Position Sensorless Control Techniques for Permanent Magnet Synchronous Machine Drives

305 Pages·2020·18.491 MB·English

by  Gaolin Wang, Guoqiang Zhang, Dianguo Xu

Gaolin Wang · Guoqiang Zhang
Dianguo Xu
Position Sensorless
Control Techniques for
Permanent Magnet
Synchronous Machine
Drives
Position Sensorless Control Techniques for
Permanent Magnet Synchronous Machine Drives
(cid:129) (cid:129)
Gaolin Wang Guoqiang Zhang Dianguo Xu
Position Sensorless Control
Techniques for Permanent
Magnet Synchronous
Machine Drives
GaolinWang GuoqiangZhang
HarbinInstituteofTechnology HarbinInstituteofTechnology
Harbin,Heilongjiang,China Harbin,Heilongjiang,China
DianguoXu
HarbinInstituteofTechnology
Harbin,Heilongjiang,China
ISBN978-981-15-0049-7 ISBN978-981-15-0050-3 (eBook)
https://doi.org/10.1007/978-981-15-0050-3
©SpringerNatureSingaporePteLtd.2020
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Preface
Owing to the distinguished advantages such as high power density, fast dynamics
and wide constant power speed range operations, permanent magnet synchronous
machines (PMSM) have drawn increasing attentions from academia to industry
applications. Since the merits such as cost reduction, system downsizing and also
reliability enhancement can be achieved through position sensorless (also noted as
self-sensing) control, many techniques for a wide range of rotor speeds from
standstill to high speeds have been developed to estimate the rotor position in the
lastfewdecades.
The book focuses on position sensorless control for PMSM drives. Both basic
principles and experimental evaluation have been addressed. This is achieved by
providing in-depth study on a number of major topics such as model-based
sensorlesscontrol,saliency-basedsensorlesscontrol,positionestimationerrorripple
elimination,acousticnoisereduction,etc.Thecomprehensiveandsystematictreat-
mentofpositionsensorlesscontrolandpracticalissuesarethemajorfeaturesofthe
book, which is particularly suited for readers who are interested to learn the
sensorless control techniques for PMSM drives. The book can benefit researchers,
engineersandgraduatestudentsinfieldsofACmotordrives,sensorlesscontrol,etc.
Harbin,China GaolinWang
GuoqiangZhang
DianguoXu
v
Contents
1 BasicStructureandMathematicalModel. . . . . . . . . . . . . . . . . . . . . 1
1.1 ApplicationandClassificationofPMSM. . . . . . . . . . . . . . . . . . 1
1.1.1 PMSMApplications. . . . . . . . . . . . .. . . . . . . . . . . . .. . 1
1.1.2 PMSMClassification. . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 CoordinateTransformation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.1 CoordinateRepresentationoftheVectorSpace. . . . . . . . 5
1.2.2 BasisTransformationandCoordinateTransformation. . . . 6
1.2.3 JordanCanonicalFormTheoremandDiagonalization. . . 7
1.2.4 CoordinateFrameinMotorDrives. . . . . . . . . . . . . . . . . 10
1.3 MathematicalModelofThree-PhaseSPMSM. . . . . . . . . . . . . . . 15
1.4 MathematicalModelofThree-PhaseIPMSM. . . . . . . . . . . . . . . 18
1.5 Per-UnitSystemofPMSM. . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.6 Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2 IntroductionofPMSMControlMethods. . . . . . . . . . . . . . . . . . . . . 25
2.1 VectorControl. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.1.1 id¼0VectorControlMode. . . . . . . . . . . . . . . . . . . . . . 25
2.1.2 MaximumTorqueperAmpereControl. . . . . . . . . . . . . . 26
2.2 FluxWeakeningControl. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.2.1 PrincipleoftheFluxWeakeningControl. . . . . . . . . . . . . 28
2.2.2 FluxWeakeningControlScheme. . . . . . . . . . . . . . . . . . 29
2.3 SpaceVectorPulseWidthModulation(SVPWM). . . . . . . . . . . . 30
2.3.1 PrincipleofSVPWM. . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.3.2 SVPWMOvermodulation. . . . . .. . . . . . . .. . . . . . . .. . 33
2.4 Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
vii
viii Contents
3 Saliency-Tracking-BasedSensorlessControlforPMSMDrives. . . . 37
3.1 HFModelandBasicPrincipleofSaliency-Tracking-Based
Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.2 HFSinusoidalSignalInjection-BasedMethod. . . . . . . . . . . . . . 39
3.2.1 HFRotatingSinusoidalSignalInjection-BasedMethod. . . 39
3.2.2 HFPulsatingSinusoidalSignalInjection-BasedMethod. . . 41
3.3 HFSquare-WaveSignalInjection-BasedMethod. . . . . . . . . . . . 45
3.4 HFPulseSignalInjection-BasedMethod. . . . . . . . . . . . . . . . . . 51
3.5 FundamentalPWMExcitation-BasedMethod. . . . . . . . . . . . . . . 58
3.5.1 MathematicalAnalysisofRotorPositionEstimation
withZeroVoltageVector(ZVV). . . . . . . . . . . . . . . . . . 60
3.5.2 CurrentSamplingMethod. . . . . . . . . . . . . . . . . . . . . . . 67
3.5.3 ExperimentalResultsforZVVInjection. . . . . . . . . . . . . 68
3.6 DesignofPositionObserver. . . . . . . . . . . . . . . . . . . . . . . . . . . 71
3.7 ParametersDesignofPLL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.7.1 StructureDesignofthePLL. . . . . . . . . . . . . . . . . . . . . . 76
3.7.2 ParameterDesignofPLL. . . . . . . . . . . . . . . . . . . . . . . . 78
3.8 Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4 Pseudo-Random-FrequencySignalInjectionforAcoustic
Reduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4.1 Pseudo-RandomFrequency-SwitchingFixed-Phase
Square-WaveSignalInjection. . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.1.1 PrincipleofPseudo-RandomHFSignalInjection. . . . . . . 82
4.1.2 Demodulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
4.1.3 NormalizationProcess. . . . . . . . . . . . . . . . . . . . . . . . . . 86
4.1.4 CompensationStrategyforDigitalTime-DelayEffect. . . 86
4.1.5 SelectionoftheInjectedFrequencyandVoltage. . . . . . . 88
4.1.6 ExperimentalResultsforSignalProcessing. . . . . . . . . . . 88
4.2 ComparisonofFull-PeriodSwitchingModeandHalf-Period
SwitchingMode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
4.2.1 Full-Period-SwitchPRFSFPSquare-WaveSignal
Injection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
4.2.2 Half-Period-SwitchPRFSFPSquare-WaveInjection. . . . 92
4.2.3 ExperimentalResultsforPRFSFPInjection. . . . . . . . . . . 93
4.3 Pseudo-RandomPhase-SwitchingFixed-FrequencySignal
Injection.. . . . . . . . . . . . .. . . . . . . . . . . . .. . . . . . . . . . . . . .. 96
4.3.1 StructureofPRPSFFSignalInjectionScheme-Based
SensorlessControl. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
4.3.2 DCBiasinSelectionofDifferentPhaseSignals. . . . . . . . 97
4.3.3 PRPSFFSquare-WaveVoltageInjectionScheme. . . . . . . 99
4.3.4 SignalProcessingandExtractionofRotorPosition. . . . . 101
4.3.5 ExperimentalResultsforPRPSFFInjection. . . . . . . . . . . 104
Contents ix
4.4 PowerSpectraDensity(PSD)Analysis. . . . .. . . . . . .. . . . . . .. 106
4.4.1 CurrentPSDinFixed-FrequencyHFSquare-Wave
VoltageInjection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
4.4.2 CurrentPSDinFull-Period-SwitchPRFSFP
Square-WaveVoltageInjection. . . . . . . . . . . . . . . . . . . . 109
4.4.3 CurrentPSDinHalf-Period-SwitchPRFSFP
Square-WaveVoltageInjection. . . . . . . . . . . . . . . . . . . . 112
4.4.4 CurrentPSDinPRPSFFSquare-WaveVoltage
Injection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
4.4.5 ComparisonofDifferentRandomInjectionSchemes. . . . 116
4.4.6 VerificationoftheAnalysisResultsofCurrentPSD. . . . . 116
4.5 Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
5 Model-BasedSensorlessControlforPMSMDrives. . . . . . . . . . . . . . 123
5.1 ClassificationofModel-BasedMethods. . . . . . . . . . . . . . . . . . . 123
5.2 ActiveFluxModelingandExtendedEMFModeling
forIPMSM. . . . . . . .. . . . . . .. . . . . . . .. . . . . . . .. . . . . . . .. 125
5.2.1 ActiveFluxModelingforIPMSM. . . . . . . . . . . . . . . . . 125
5.2.2 ExtendedEMFModelingforIPMSM. . . . . . . . . . . . . . . 128
5.3 SlidingModeObserverBasedonEEMF. . . . . . . . . . . . . . . . . . 128
5.3.1 Reduced-OrderPositionObserver. . . . . . . . . . . . . . . . . . 128
5.3.2 Full-OrderPositionObserver. . . . . . . . . . . . . . . . . . . . . 132
5.3.3 OrthogonalPhase-LockedLoopPositionTracker. . . . . . . 135
5.3.4 ExperimentalResultsofSlidingModeObserver. . . . . . . 139
5.4 HybridSensorlessControlStrategyinWholeSpeedRange. . . . . 143
5.5 Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
6 PositionEstimationErrorRippleEliminationforModel-Based
Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
6.1 CausesofthePositionEstimationErrorRipple. . . . . . . . . . . . . . 147
6.1.1 AnalysisoftheHarmonicComponentsinExtended
EMFEstimation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
6.1.2 PositionEstimationErrorDuetotheHarmonics
intheEstimatedBack-EMF. . . . . . . . . . . . . . . . . . . . . . 150
6.1.3 MethodstoReduceHarmonicRippleinPosition
Estimation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
6.2 ConventionalEliminationSchemeforPositionEstimation
ErrorRipple. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
6.2.1 PositionEstimationBasedonExtendedEMF
Sliding-ModeObserver. . . . . . . . . . . . . . . . . . . . . . . . . 154
6.2.2 QuadraturePLLforRotorPositionExtraction. . . . . . . . . 155
6.3 ADALINE-BasedPositionErrorRippleElimination. . . . . . . . . . 158
x Contents
6.3.1 ADALINE-BasedFilterAdoptedinPositionEstimator. . . 158
6.3.2 OnlineTrainingAlgorithmsofFilterWeights. . . . . . . . . 160
6.3.3 ExperimentalResultsonADALINE-BasedFilter. . . . . . . 162
6.4 SOGI-BasedPositionErrorRippleElimination. . . . . . . . . . . . . . 176
6.4.1 Second-OrderGeneralizedIntegratorwithFrequency
LockLoop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
6.4.2 MultipleSelectiveEMFHarmonicEliminationUsing
SOGIswithaCFN. . . . . . . . .. . . . . . . . .. . . . . . . . .. . 178
6.4.3 ExperimentalResultsonSOGI-MSEHEMethod. . . . . . . 180
6.5 AVF-BasedPositionErrorRippleElimination. . . . . . . . . . . . . . 184
6.5.1 ActiveFlux-BasedBack-EMFObserver. . . . . . . . . . . . . 184
6.5.2 ProposedMultiple-AVFCFNforPositionError
HarmonicFluctuationElimination. . . . . . . . . . . . . . . . . . 186
6.5.3 Multiple-AVFCFN. . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
6.5.4 ExperimentalResultsonMultiple-AVFCFNMethod. . . . 191
6.6 Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
7 Low-FrequencyRatioSensorlessControlforHigh-SpeedPMSM
Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
7.1 ApplicationsofHigh-SpeedPMSM. . . . . . . . . . . . . . . . . . . . . . 203
7.2 ChallengesofLow-FrequencyRatioSensorlessControl. . . . . . . 203
7.3 Discrete-TimeDomainMathematicalModelofPMSM. . . . . . . . 205
7.3.1 Continuous-TimeDomainModel. . . . . . . . . . . . . . . . . . 205
7.3.2 Discrete-TimeDomainModel. . . . . . . . . . . . . . . . . . . . . 206
7.4 CurrentRegulatorDesign. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
7.4.1 IntroductiontoCurrentRegulatorDesign. . . . . . . . . . . . 208
7.4.2 AnalysisandComparisonofDifferentCurrent
Regulators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
7.4.3 ComplexVectorPICurrentRegulator. . . . . . . . . . . . . . . 212
7.5 RotorPositionObserverDesign. . . . . . . . . . . . . . . . . . . . . . . . . 216
7.5.1 ProposedDiscrete-TimeLow-Frequency-Ratio
Synchronous-FrameFull-OrderObserver. . . . . . . . . . . . . 216
7.5.2 ExperimentalEvaluationoftheProposedPosition
Observer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
7.6 Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
8 MotorParameterSelf-CommissioningatStandstill. . . . . . . . . . . . . . 233
8.1 InitialRotorPositionDetection. . . . . . . . . . . . . . . . . . . . . . . . . 233
8.1.1 RotorMagneticPolePositionDetectionwithHFPulse
VoltageSignalInjectionMethod. . . . . . . . . . . . . . . . . . . 233
8.1.2 RotorMagneticPolePolarityInformationDetection
withPulseVoltageSignalInjectionMethod. . . . . . . . .. . 236
8.1.3 ExperimentalResultsofInitialRotorPosition
Estimation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Contents xi
8.2 StatorResistanceOfflineIdentification. . . . . . . . . . . . . . . . . . . . 240
8.2.1 ProposedSchemeofStatorResistanceIdentification. . . . 240
8.2.2 ErrorAnalysisoftheStatorResistanceIdentification. . . . 242
8.2.3 ExperimentalResultsofSignalProcessing. . . . . . . . . . . . 243
8.3 StatorInductanceSelf-Identification. . . . . . . . . . . . . . . . . . . . . . 247
8.3.1 ProposedSchemeofd-qAxisInductanceIdentification. . . 247
8.3.2 ErrorAnalysisofthed-AxisInductanceIdentification. . . 249
8.3.3 ErrorAnalysisoftheq-AxisInductanceIdentification. . . 253
8.3.4 AnalysisoftheCross-CouplingEffects. . . . . . . . . . . . . . 254
8.3.5 DesignofPICoefficientsford-AxisCurrentRegulator. . . 255
8.3.6 ExperimentalResultsofInductanceIdentification. . . . . . 257
8.4 InverterNonlinearityEffectandCompensation. . . . . . . . . . . . . . 262
8.4.1 Self-LearningofCharacteristicsofInverter
Nonlinearities. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
8.4.2 InverterNonlinearityModellingwithHFVoltage
Injection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
8.4.3 PartialHFCurrentLocatedinLinearRegion:Case1. . . . 264
8.4.4 PartialHFCurrentLocatedinLinearRegion:Case2. . . . 267
8.4.5 HFCurrentLocatedinLinearRegion:Case3. . . . . . . . . 269
8.4.6 WholeHFCurrentLocatedinSaturationRegion:
Case4. . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . 270
8.4.7 InverterNonlinearityEffectsonOfflineInductance
Identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
8.4.8 ExperimentalResultsforSignalProcessing. . . . . . . . . . . 272
8.5 Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
9 PracticalIssuesofSensorlessControlforPMSMDrives. . . . . . . . . . 281
9.1 EfficiencyOptimizationControl. . .. . . . . . . . . .. . . . . . . . . . .. 281
9.2 ActiveDisturbanceRejectionControlforDynamic
PerformanceImprovement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
9.2.1 StructureofConventionalLADRCandNLADRC. . . . . . 285
9.2.2 EnhancedNLADRCStrategy. . . . . . . . . . . . . . . . . . . . . 289
9.2.3 ExperimentalResults. . . . . . . . . . . . . . . . . . . . . . . . . . . 291
9.3 Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
Nomenclature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297