Conventional current-to-frequency(I-F)start-up strategies apply only to zero-speed conditions.When a nonzero initial speed(referred to as a flying start)exists,loss of synchronism is likely to occur because the virtua...Conventional current-to-frequency(I-F)start-up strategies apply only to zero-speed conditions.When a nonzero initial speed(referred to as a flying start)exists,loss of synchronism is likely to occur because the virtual synchronous reference frame fails to align with the rotor flux linkage direction.To meet the flying start requirements of ultra-highspeed permanent magnet motors,this paper proposes a sensorless I-F start-up strategy for flying starts based on differential analysis of short-circuit transients.Upon power-up,the inverter places the three-phase stator windings in a controlled short-circuit state and applies two short-duration short-circuit pulses at different instants.By sampling the phase variation of the stator current vectors during the two shortcircuit transients,differential current characteristics are extracted to rapidly estimate the initial rotor position and speed,thereby facilitating smooth I-F start-up.The proposed method overcomes the limitations of conventional I-F strategies confined to zero-speed start-up and is applicable to oil-film and airbearing supported motor systems.Experimental results validate a smooth flying start featuring continuous and impact-free stator currents,effective suppression of mechanical friction prior to airfilm formation,and the enhanced stability and robustness of I-F start-up.展开更多
The sensorless control of surface-mounted permanent magnet synchronous motor(SPMSM)usually uses quadrature phase-locked loop(QPLL)to extract the phase information of the back electromotive force to realize the rotor a...The sensorless control of surface-mounted permanent magnet synchronous motor(SPMSM)usually uses quadrature phase-locked loop(QPLL)to extract the phase information of the back electromotive force to realize the rotor angle estimation.However,the traditional QPLL has a convergence deviation of 180°when the motor is reversed,and the angle estimation error is obvious when the motor is accelerated and decelerated.To solve these problems,an enhanced QPLL(EQPLL)with polarity correction and high precision angle feedforward compensation is proposed.Firstly,the traditional phase discriminator is improved based on the two-phase stationary coordinate system,and the polarity correction function is designed by the error component of the improved phase discriminator to realize the non convergent deviation angle estimation under the forward and reverse switching conditions of the motor.In addition,the error component of the improved phase discriminator is used as the feedforward compensation signal,and the enhanced generalized integrator is used to filter it,so as to realize the angle error compensation with low delay and low noise.Finally,the proposed scheme is verified by experiment on the motor platform,and compared with the existing scheme.The experimental results show that the proposed scheme can realize the polarity correction and angle error elimination,and at the same time,the noise mean square error is reduced by 24.33%compared with the existing angle feedforward compensation scheme.展开更多
Synchronous reluctance motors(SynRM)are widely employed in industrial applications due to their high robustness,low cost,and absence of permanent magnets.In recent years,significant research efforts have focused on im...Synchronous reluctance motors(SynRM)are widely employed in industrial applications due to their high robustness,low cost,and absence of permanent magnets.In recent years,significant research efforts have focused on improving the controllability and efficiency of SynRM.Accurate rotor position information is essential for the controller to generate appropriate current and voltage references corresponding to the desired speed and load torque.Shaft-mounted position sensors are generally undesirable because of their high cost,sensitivity to harsh operating conditions,maintenance requirements,and reduced reliability in environments characterized by high vibration.Consequently,sensorless control techniques that estimate rotor position using measured stator currents and voltages have attracted increasing attention.However,magnetic saturation,parameter nonlinearities,and cross-coupling effects significantly degrade position estimation accuracy and may compromise the stability of sensorless SynRM drives.In this paper,a nonlinear SynRM model is developed using finite element analysis(FEA)to accurately capture magnetic saturation and cross-coupling effects,thereby providing a precise representation of the machine’s electromagnetic behavior under varying load and flux conditions.A series of magnetostatic FEA simulations is performed.To reduce computational complexity,only one motor pole is analyzed by applying anti-periodic boundary conditions along the domain sides and enforcing a zero magnetic vector potential on the external stator boundary.Nonlinear iron material properties are modeled using the appropriate B-H curve.The simulations are carried out by imposing d-and q-axis current components and computing the corresponding flux linkages and electromagnetic torque.Based on these results,both apparent and incremental inductances are extracted and incorporated into the control algorithm.An advanced fictitious flux linkage method combined with a phase-locked loop(PLL)is employed for accurate rotor position estimation.Simulation results confirm that the proposed sensorless control strategy ensures stable operation and high position estimation accuracy over the entire speed range.展开更多
In the context of the position and speed information of the rotor being difficult to directly obtain in the position sensorless control of permanent magnet synchronous motors,this paper establishes a PMSM position sen...In the context of the position and speed information of the rotor being difficult to directly obtain in the position sensorless control of permanent magnet synchronous motors,this paper establishes a PMSM position sensorless vector control system model and designs a speed and position estimation structure consisting of an extended Luenberger observer and NLESO-PLL.This method first uses the extended Luenberger observer to estimate the motor’s back electromotive force,and then estimates its components in theαandβcoordinate systems from the stator voltage and current signals.Then,the estimated back electromotive force is input into NLESO-PLL,and the rotor position,angular velocity,and mechanical speed are estimated through nonlinear error feedback and the expansion state observation loop.Compared with the traditional PLL,NLESO-PLL can enhance dynamic tracking capability and anti-disturbance performance under conditions of sudden speed changes and load disturbances.Using MATLAB/Simulink,a PMSM position sensorless vector control simulation model is built,and speed step,load disturbance,and position estimation experiments are conducted under different operating conditions.The simulation results show that the proposed method can better track the actual speed and rotor position in the medium-to-high-speed operating range and maintain good estimation stability under speed changes and load disturbances,providing a feasible solution for position-sensorless control of PMSM at medium and high speeds.展开更多
Under sensorless control, the position estimation error in interior permanent magnet(PM) synchronous machines will lead to parameter identification errors and a rank-deficiency issue. This paper proposes a parameter i...Under sensorless control, the position estimation error in interior permanent magnet(PM) synchronous machines will lead to parameter identification errors and a rank-deficiency issue. This paper proposes a parameter identification model that is independent of position error by combining the dq-axis voltage equations. Then, a novel dual signal alternate injection method is proposed to address the rank-deficiency issue, i.e., during one injection period, a zero, positive, and negative d-axis current injection together with a rotor position offset injection, to simultaneously identify the multi-parameters, including stator resistance, dq-axis inductances, and PM flux linkage. The proposed method is verified by experiments at different dq-axis current conditions.展开更多
Developing sensorless techniques for estimating battery expansion is essential for effective mechanical state monitoring,improving the accuracy of digital twin simulation and abnormality detection.Therefore,this paper...Developing sensorless techniques for estimating battery expansion is essential for effective mechanical state monitoring,improving the accuracy of digital twin simulation and abnormality detection.Therefore,this paper presents a data-driven approach to expansion estimation using electromechanical coupled models with machine learning.The proposed method integrates reduced-order impedance models with data-driven mechanical models,coupling the electrochemical and mechanical states through the state of charge(SOC)and mechanical pressure within a state estimation framework.The coupling relationship was established through experimental insights into pressure-related impedance parameters and the nonlinear mechanical behavior with SOC and pressure.The data-driven model was interpreted by introducing a novel swelling coefficient defined by component stiffnesses to capture the nonlinear mechanical behavior across various mechanical constraints.Sensitivity analysis of the impedance model shows that updating model parameters with pressure can reduce the mean absolute error of simulated voltage by 20 mV and SOC estimation error by 2%.The results demonstrate the model's estimation capabilities,achieving a root mean square error of less than 1 kPa when the maximum expansion force is from 30 kPa to 120 kPa,outperforming calibrated stiffness models and other machine learning techniques.The model's robustness and generalizability are further supported by its effective handling of SOC estimation and pressure measurement errors.This work highlights the importance of the proposed framework in enhancing state estimation and fault diagnosis for lithium-ion batteries.展开更多
Sensorless control of switched reluctance motors(SRMs) often requires a hybrid mode combining low-speed pulse injection methods and high-speed model-based estimation.However,pulse injection causes unwanted audible noi...Sensorless control of switched reluctance motors(SRMs) often requires a hybrid mode combining low-speed pulse injection methods and high-speed model-based estimation.However,pulse injection causes unwanted audible noises and torque ripples.This article proposes an enhanced model-based sensorless approach to extend downwards the speed range in which sensorless control can work without injection.An inertial phase-locked loop (IPLL) based on a stator flux observer is introduced for position estimation.Compared to the conventional phase-locked loop scheme,the IPLL offers a more robust disturbance rejection capability and thus reduces the flux model errors at lower speeds.Experimental results substantiate the feasibility of the extended low-speed operation using the model-based sensorless control approach.展开更多
Position sensors are indispensable in robotic joint servo systems for acquiring mechanical positions, yet their installation inevitably occupies an axial space and increases system complexity, limiting their applicabi...Position sensors are indispensable in robotic joint servo systems for acquiring mechanical positions, yet their installation inevitably occupies an axial space and increases system complexity, limiting their applicability in compact robot design where spatial constraints and integration efficiency are critical. Sensorless control reduces mechanical and circuit complexity through hardware simplification, but inherently estimates only the electrical instead of mechanical rotor position information, thus remaining constrained in robot joint control applications. Based on the previously proposed dual-gap dualpole composite machine(DDCM), this paper systematically analyzes the causes of mechanical position estimation errors and proposes a correction method that utilizes a correction coefficient to reduce these errors and enhance estimation accuracy. Furthermore, this paper derives the applicability constraints of the proposed scheme, demonstrating that its requirements for electrical angle position errors are not stringent, thus enabling wide applicability in conventional sensorless control scenarios. The effectiveness of the proposed method is verified by conducting experiments on a 0.75 kW prototype.展开更多
The direct torque control theory has achieved great success in the control ofinduction motors. However, in the DTC drive system of Permanent Magnet Synchronous Machine (PMSM)proposed a few years ago, there are many ba...The direct torque control theory has achieved great success in the control ofinduction motors. However, in the DTC drive system of Permanent Magnet Synchronous Machine (PMSM)proposed a few years ago, there are many basic theoretical problems that must be clarified. Thispaper describes an investigation about the effect of the zero voltage space vectors in the DTCsystem of PMSM and points out that if using the zero voltage space vectors rationally, not only canthe DTC system be driven successfully but also the torque ripple is reduced and the performance ofthe system is improved. This paper also studies the sensorless technique in the DTC system of PMSMand configures the DTC system of PMSM with sensorless technique including zero voltage spacevectors. Numerical simulations and experimental tests have proved the theory correct. In thecondition of sensor-less, the DTC system of PMSM is wide-rangely speed adjusting, and the ratio ofspeed adjustment is 1: 100.展开更多
Sensorless control of AC motor drives,which takes the advantages of cost saving,higher reliability,and less hardware,has been developed for several decades.Among the existing speed sensorless control methods,nonlinear...Sensorless control of AC motor drives,which takes the advantages of cost saving,higher reliability,and less hardware,has been developed for several decades.Among the existing speed sensorless control methods,nonlinear Kalman filter-based one has attached widespread attention due to its superb estimation accuracy and inherent resistibility to noise.However,the determination of noise covariance matrix and robustness of model uncertainties are still open issues in practice.A great number of studies try to solve these problems in resent years.This paper reviews the application of extended Kalman filter(EKF),unscented Kalman filter(UKF),and cubature Kalman filter(CKF)in speed sensorless control for AC motor drives.As an iterative algorithm,EKF has advantages in processor implementation.However,EKF suffers from the linearization error and model uncertainties when applying to sensorless control system.This paper presents the predominant improvements of EKF which is also applicative in UKF and CKF mostly.展开更多
In recent years,the application of sensorless AC motor drives is expanding in areas ranging from industrial applications to household electrical appliances.As is well known,the advantages of sensorless motor drives in...In recent years,the application of sensorless AC motor drives is expanding in areas ranging from industrial applications to household electrical appliances.As is well known,the advantages of sensorless motor drives include lower cost,increased reliability,reduced hardware complexity,better noise immunity,and less maintenance requirements.With the development of modern industrial automation,more advanced sensorless control strategies are needed to meet the requirements of applications.For sensorless motor drives at low-and zero-speed operation,inverter nonlinearities and motor parameter variation have significant impact on the stability of control system.Meanwhile,high observer’s bandwidth is required in high-speed region.This paper introduces the state of art of recent progress in sensorless AC motor drives.In addition,this paper presents the sensorless control strategies we investigated for practical industrial and household applications.Both advanced sensorless drives of induction motor(IM)and permanent magnet synchronous motor(PMSM)are presented in this paper.展开更多
For a brushless DC motor(BLDCM)with a salient pole structured rotor,its self-inductance and mutual-inductance present sinusoidal variations periodically,which results in regular changes of three-phase terminal voltage...For a brushless DC motor(BLDCM)with a salient pole structured rotor,its self-inductance and mutual-inductance present sinusoidal variations periodically,which results in regular changes of three-phase terminal voltage waves during the unexcited period,as shown in Fig.1.展开更多
Inductance asymmetry,which is brought by inherent asymmetric parameters,manufacture tolerance,winding fault,cables with unequal lengths,etc.,of permanent-magnet synchronous machines(PMSMs)can cause current harmonics a...Inductance asymmetry,which is brought by inherent asymmetric parameters,manufacture tolerance,winding fault,cables with unequal lengths,etc.,of permanent-magnet synchronous machines(PMSMs)can cause current harmonics and inaccurate position estimation.This paper proposes an enhanced fundamental model based sensorless control strategy for PMSMs with asymmetric inductances.The proportional-integral-resonant current regulator is introduced to reduce the second-order harmonics of currents,but there are still negative sequence components in the estimated back-electromotive forces(EMFs),which can cause the position estimated error.Differing from conventional methods in which negative sequences are filtered out before the phase-locked loop(PLL)module,the proposed method directly applies the estimated back-EMF with negative sequences as the reference input of PLL.An improved PLL with a bi-quad filter is proposed to attenuate the arising second harmonic position error and heighten the steady-state accuracy.Then,this position error is used for asymmetric inductance identification and its result is utilized to update the observer model.Furthermore,the dynamic performance is improved by the output limitation on the bi-quad filter as well as the implementation of a fast-locking technique in the PLL.The effectiveness of the proposed scheme is verified by experimental results.展开更多
We propose a position sensorless control scheme for a four-switch,three-phase brushless DC motor drive,based on the zero crossing point detection of phase back-EMF voltages using newly defined error functions(EFs). Th...We propose a position sensorless control scheme for a four-switch,three-phase brushless DC motor drive,based on the zero crossing point detection of phase back-EMF voltages using newly defined error functions(EFs). The commutation in-stants are 30° after detected zero crossing points of the EFs. Developed EFs have greater magnitude rather than phase or line voltages so that the sensorless control can work at a lower speed range. Moreover,EFs have smooth transitions around zero voltage level that reduces the commutation errors. EFs are derived from the filtered terminal voltages vao and vbo of two low-pass filters,which are used to eliminate high frequency noises for calculation of the average terminal voltages. The feasibility of the proposed sensorless control is demonstrated by simulation and experimental results.展开更多
This paper presents a backstepping control method for speed sensorless permanent magnet synchronous motor based on slide model observer. First, a comprehensive dynamical model of the permanent magnet synchronous motor...This paper presents a backstepping control method for speed sensorless permanent magnet synchronous motor based on slide model observer. First, a comprehensive dynamical model of the permanent magnet synchronous motor(PMSM) in d-q frame and its space-state equation are established. The slide model control method is used to estimate the electromotive force of PMSM under static frame, while the position of rotor and its actual speed are estimated by using phase loop lock(PLL) method. Next,using Lyapunov stability theorem, the asymptotical stability condition of the slide model observer is presented. Furthermore, based on the backstepping control theory, the PMSM rotor speed and current tracking backstepping controllers are designed, because such controllers display excellent speed tracking and anti-disturbance performance. Finally, Matlab simulation results show that the slide model observer can not only estimate the rotor position and speed of the PMSM accurately, but also ensure the asymptotical stability of the system and effective adjustment of rotor speed and current.展开更多
An approach of position sensorless control for permanent magnet synchronous motor ( PMSM ) is put forward based on a sliding mode observer. The mathematical model of PMSM in a stationary αβ reference frame is adop...An approach of position sensorless control for permanent magnet synchronous motor ( PMSM ) is put forward based on a sliding mode observer. The mathematical model of PMSM in a stationary αβ reference frame is adopted, and the system is controlled by the digital signal processor ( DSP; TMS320LF2407 according to the control achieve closed loop operation of the motor, the stator theory of sliding mode observer. In order to magnetic field should be vertical with the rotor magnetic field and be synchronous with rotor rotating, so the position and speed of PMSM is estimated in real time and the estimated position is modified continuously. The simulation results indicate that the proposed observer has high precision is more robust to the parametric variation and load in estimation of PMSM position and speed, and torque disturbance.展开更多
In this paper,a sensorless control strategy of a permanent magnet synchronous machine(PMSM)based on an improved rotor flux observer(IFO)is proposed.Due to the unknown integral initial value and the high harmonics caus...In this paper,a sensorless control strategy of a permanent magnet synchronous machine(PMSM)based on an improved rotor flux observer(IFO)is proposed.Due to the unknown integral initial value and the high harmonics caused by current sampling and inverter nonlinearities,the flux linkage estimated by traditional rotor flux observer may be inaccurate.In order to address these issues,a self-adaptive band-pass filter(SABPF)is designed to eliminate the DC component and high-frequency harmonics of the estimated equivalent rotor flux linkage.Furthermore,in order to avoid that the design of PI parameter is influenced by the amplitude of equivalent rotor flux linkage,an improved phase-locked loop(IPLL)is employed to obtain the rotor speed and to normalize the estimated equivalent rotor flux linkage.In addition,angle shift caused by an SABPF is compensated to improve the accuracy of the estimated flux linkage angle.Besides,the parameter robustness of this method is analyzed in detail.Finally,simulation and experimental results demonstrate the effectiveness and parameter robustness of the proposed method.展开更多
This paper proposes the operation principle and a new flux estimation method for sensorless control strategy for the dual-fed flux modulated electric motor(DFFM).The DFFM is designed based on the flux modulation theor...This paper proposes the operation principle and a new flux estimation method for sensorless control strategy for the dual-fed flux modulated electric motor(DFFM).The DFFM is designed based on the flux modulation theory,it includes two stator windings and one rotor which simplify the mechanical structure.The rotor has only modulation iron and no permanent magnets on it,so there is no cogging torque problem in this motor.With adjustment of the outer and inner stator flux rotating frequency and amplitude,different rotation speed and torque of the sandwiched rotor can be gained for the DFFM.Furthermore,an improved flux estimation based sensorless control strategy is performed on the proposed machine to fit the two winding set control situation.The startup and performance of the proposed control strategy is verified by the simulation and experiments.展开更多
Magnetic sensorless sensing experiments of the plasma horizontal positionhave been carried out in the superconducting tokamak HT-7. The horizontal position is calculatedfrom the vertical field coil current and voltage...Magnetic sensorless sensing experiments of the plasma horizontal positionhave been carried out in the superconducting tokamak HT-7. The horizontal position is calculatedfrom the vertical field coil current and voltage without using signals of magnetic probes placednearby a plasma. The calculations are focused on the ripple frequency component of the power supply.There is no drift problem with the time integration of magnetic probe signals. The error of thederived plasma position is lower than 2% of the plasma minor radius.展开更多
The control platform of the induction motor (IM) with low costs is developed by using DSP MC56F8013 with a good performance/price rtaio. The control algorithm for the speed sensorless IM is studied based on the stat...The control platform of the induction motor (IM) with low costs is developed by using DSP MC56F8013 with a good performance/price rtaio. The control algorithm for the speed sensorless IM is studied based on the stator flux orientation (SFO). The algorithm structure is simple to be implemented and cannot be influenced by motor parameters, The improved stator flux estimation is used to compensate errors caused by the low pass filter (LPF). A new speed regulator is designed to ensure the system working with the maximal torque in the transient state. The system simulation and the prototype experiment are made. Results show that the con- trol system has good dynamic and static performance.展开更多
基金supported by Zhejiang Province Pioneer Project under Grant 2024C01014the Joint Fund Key Project of the National Natural Science Foundation of China under Grant U23A20643the National Natural Science Foundation of China under Grant 52477060。
摘要Conventional current-to-frequency(I-F)start-up strategies apply only to zero-speed conditions.When a nonzero initial speed(referred to as a flying start)exists,loss of synchronism is likely to occur because the virtual synchronous reference frame fails to align with the rotor flux linkage direction.To meet the flying start requirements of ultra-highspeed permanent magnet motors,this paper proposes a sensorless I-F start-up strategy for flying starts based on differential analysis of short-circuit transients.Upon power-up,the inverter places the three-phase stator windings in a controlled short-circuit state and applies two short-duration short-circuit pulses at different instants.By sampling the phase variation of the stator current vectors during the two shortcircuit transients,differential current characteristics are extracted to rapidly estimate the initial rotor position and speed,thereby facilitating smooth I-F start-up.The proposed method overcomes the limitations of conventional I-F strategies confined to zero-speed start-up and is applicable to oil-film and airbearing supported motor systems.Experimental results validate a smooth flying start featuring continuous and impact-free stator currents,effective suppression of mechanical friction prior to airfilm formation,and the enhanced stability and robustness of I-F start-up.
基金Project(52272339)supported by the National Natural Science Foundation of China。
摘要The sensorless control of surface-mounted permanent magnet synchronous motor(SPMSM)usually uses quadrature phase-locked loop(QPLL)to extract the phase information of the back electromotive force to realize the rotor angle estimation.However,the traditional QPLL has a convergence deviation of 180°when the motor is reversed,and the angle estimation error is obvious when the motor is accelerated and decelerated.To solve these problems,an enhanced QPLL(EQPLL)with polarity correction and high precision angle feedforward compensation is proposed.Firstly,the traditional phase discriminator is improved based on the two-phase stationary coordinate system,and the polarity correction function is designed by the error component of the improved phase discriminator to realize the non convergent deviation angle estimation under the forward and reverse switching conditions of the motor.In addition,the error component of the improved phase discriminator is used as the feedforward compensation signal,and the enhanced generalized integrator is used to filter it,so as to realize the angle error compensation with low delay and low noise.Finally,the proposed scheme is verified by experiment on the motor platform,and compared with the existing scheme.The experimental results show that the proposed scheme can realize the polarity correction and angle error elimination,and at the same time,the noise mean square error is reduced by 24.33%compared with the existing angle feedforward compensation scheme.
摘要Synchronous reluctance motors(SynRM)are widely employed in industrial applications due to their high robustness,low cost,and absence of permanent magnets.In recent years,significant research efforts have focused on improving the controllability and efficiency of SynRM.Accurate rotor position information is essential for the controller to generate appropriate current and voltage references corresponding to the desired speed and load torque.Shaft-mounted position sensors are generally undesirable because of their high cost,sensitivity to harsh operating conditions,maintenance requirements,and reduced reliability in environments characterized by high vibration.Consequently,sensorless control techniques that estimate rotor position using measured stator currents and voltages have attracted increasing attention.However,magnetic saturation,parameter nonlinearities,and cross-coupling effects significantly degrade position estimation accuracy and may compromise the stability of sensorless SynRM drives.In this paper,a nonlinear SynRM model is developed using finite element analysis(FEA)to accurately capture magnetic saturation and cross-coupling effects,thereby providing a precise representation of the machine’s electromagnetic behavior under varying load and flux conditions.A series of magnetostatic FEA simulations is performed.To reduce computational complexity,only one motor pole is analyzed by applying anti-periodic boundary conditions along the domain sides and enforcing a zero magnetic vector potential on the external stator boundary.Nonlinear iron material properties are modeled using the appropriate B-H curve.The simulations are carried out by imposing d-and q-axis current components and computing the corresponding flux linkages and electromagnetic torque.Based on these results,both apparent and incremental inductances are extracted and incorporated into the control algorithm.An advanced fictitious flux linkage method combined with a phase-locked loop(PLL)is employed for accurate rotor position estimation.Simulation results confirm that the proposed sensorless control strategy ensures stable operation and high position estimation accuracy over the entire speed range.
摘要In the context of the position and speed information of the rotor being difficult to directly obtain in the position sensorless control of permanent magnet synchronous motors,this paper establishes a PMSM position sensorless vector control system model and designs a speed and position estimation structure consisting of an extended Luenberger observer and NLESO-PLL.This method first uses the extended Luenberger observer to estimate the motor’s back electromotive force,and then estimates its components in theαandβcoordinate systems from the stator voltage and current signals.Then,the estimated back electromotive force is input into NLESO-PLL,and the rotor position,angular velocity,and mechanical speed are estimated through nonlinear error feedback and the expansion state observation loop.Compared with the traditional PLL,NLESO-PLL can enhance dynamic tracking capability and anti-disturbance performance under conditions of sudden speed changes and load disturbances.Using MATLAB/Simulink,a PMSM position sensorless vector control simulation model is built,and speed step,load disturbance,and position estimation experiments are conducted under different operating conditions.The simulation results show that the proposed method can better track the actual speed and rotor position in the medium-to-high-speed operating range and maintain good estimation stability under speed changes and load disturbances,providing a feasible solution for position-sensorless control of PMSM at medium and high speeds.
摘要Under sensorless control, the position estimation error in interior permanent magnet(PM) synchronous machines will lead to parameter identification errors and a rank-deficiency issue. This paper proposes a parameter identification model that is independent of position error by combining the dq-axis voltage equations. Then, a novel dual signal alternate injection method is proposed to address the rank-deficiency issue, i.e., during one injection period, a zero, positive, and negative d-axis current injection together with a rotor position offset injection, to simultaneously identify the multi-parameters, including stator resistance, dq-axis inductances, and PM flux linkage. The proposed method is verified by experiments at different dq-axis current conditions.
基金Fund supported this work for Excellent Youth Scholars of China(Grant No.52222708)the National Natural Science Foundation of China(Grant No.51977007)+1 种基金Part of this work is supported by the research project“SPEED”(03XP0585)at RWTH Aachen Universityfunded by the German Federal Ministry of Education and Research(BMBF)。
摘要Developing sensorless techniques for estimating battery expansion is essential for effective mechanical state monitoring,improving the accuracy of digital twin simulation and abnormality detection.Therefore,this paper presents a data-driven approach to expansion estimation using electromechanical coupled models with machine learning.The proposed method integrates reduced-order impedance models with data-driven mechanical models,coupling the electrochemical and mechanical states through the state of charge(SOC)and mechanical pressure within a state estimation framework.The coupling relationship was established through experimental insights into pressure-related impedance parameters and the nonlinear mechanical behavior with SOC and pressure.The data-driven model was interpreted by introducing a novel swelling coefficient defined by component stiffnesses to capture the nonlinear mechanical behavior across various mechanical constraints.Sensitivity analysis of the impedance model shows that updating model parameters with pressure can reduce the mean absolute error of simulated voltage by 20 mV and SOC estimation error by 2%.The results demonstrate the model's estimation capabilities,achieving a root mean square error of less than 1 kPa when the maximum expansion force is from 30 kPa to 120 kPa,outperforming calibrated stiffness models and other machine learning techniques.The model's robustness and generalizability are further supported by its effective handling of SOC estimation and pressure measurement errors.This work highlights the importance of the proposed framework in enhancing state estimation and fault diagnosis for lithium-ion batteries.
基金supported in part by the National Natural Science Foundation of China 52307069in part by 2024 Tertiary Education Scientific Research Project of Guangzhou Municipal Education Bureau under Grant2024312176in part by the Project of Hetao Shenzhen-Hong Kong Science and Technology Innovation Cooperation Zone under Grant HZQB-KCZYB-2020083。
摘要Sensorless control of switched reluctance motors(SRMs) often requires a hybrid mode combining low-speed pulse injection methods and high-speed model-based estimation.However,pulse injection causes unwanted audible noises and torque ripples.This article proposes an enhanced model-based sensorless approach to extend downwards the speed range in which sensorless control can work without injection.An inertial phase-locked loop (IPLL) based on a stator flux observer is introduced for position estimation.Compared to the conventional phase-locked loop scheme,the IPLL offers a more robust disturbance rejection capability and thus reduces the flux model errors at lower speeds.Experimental results substantiate the feasibility of the extended low-speed operation using the model-based sensorless control approach.
基金supported in part by the National Natural Science Foundation of China under Grants 52277057 and U22A20217in part by the Shandong Youth Innovation Team under Grant 2022KJ150。
摘要Position sensors are indispensable in robotic joint servo systems for acquiring mechanical positions, yet their installation inevitably occupies an axial space and increases system complexity, limiting their applicability in compact robot design where spatial constraints and integration efficiency are critical. Sensorless control reduces mechanical and circuit complexity through hardware simplification, but inherently estimates only the electrical instead of mechanical rotor position information, thus remaining constrained in robot joint control applications. Based on the previously proposed dual-gap dualpole composite machine(DDCM), this paper systematically analyzes the causes of mechanical position estimation errors and proposes a correction method that utilizes a correction coefficient to reduce these errors and enhance estimation accuracy. Furthermore, this paper derives the applicability constraints of the proposed scheme, demonstrating that its requirements for electrical angle position errors are not stringent, thus enabling wide applicability in conventional sensorless control scenarios. The effectiveness of the proposed method is verified by conducting experiments on a 0.75 kW prototype.
基金Aeronautical Science Emphasis foundation of China( 98Z5 2 0 0 1) Delta Power Electronics Science &Education DevelopmentF und
摘要The direct torque control theory has achieved great success in the control ofinduction motors. However, in the DTC drive system of Permanent Magnet Synchronous Machine (PMSM)proposed a few years ago, there are many basic theoretical problems that must be clarified. Thispaper describes an investigation about the effect of the zero voltage space vectors in the DTCsystem of PMSM and points out that if using the zero voltage space vectors rationally, not only canthe DTC system be driven successfully but also the torque ripple is reduced and the performance ofthe system is improved. This paper also studies the sensorless technique in the DTC system of PMSMand configures the DTC system of PMSM with sensorless technique including zero voltage spacevectors. Numerical simulations and experimental tests have proved the theory correct. In thecondition of sensor-less, the DTC system of PMSM is wide-rangely speed adjusting, and the ratio ofspeed adjustment is 1: 100.
基金This work was supported in part by National Natural Science Foundation of China(51677150)in part by State Key Laboratory of Large Electric Drive System and Equipment Technology(SKLLDJ012016006)+1 种基金in part by Key Research and Development Project of ShaanXi Province(2019GY-060)in part by Key Laboratory of Industrial Automation in ShaanXi Province(SLGPT2019KF01-12)。
摘要Sensorless control of AC motor drives,which takes the advantages of cost saving,higher reliability,and less hardware,has been developed for several decades.Among the existing speed sensorless control methods,nonlinear Kalman filter-based one has attached widespread attention due to its superb estimation accuracy and inherent resistibility to noise.However,the determination of noise covariance matrix and robustness of model uncertainties are still open issues in practice.A great number of studies try to solve these problems in resent years.This paper reviews the application of extended Kalman filter(EKF),unscented Kalman filter(UKF),and cubature Kalman filter(CKF)in speed sensorless control for AC motor drives.As an iterative algorithm,EKF has advantages in processor implementation.However,EKF suffers from the linearization error and model uncertainties when applying to sensorless control system.This paper presents the predominant improvements of EKF which is also applicative in UKF and CKF mostly.
基金This work was supported by the Research Fund for the National Key Research and Development Program(2016YFE0102800).
摘要In recent years,the application of sensorless AC motor drives is expanding in areas ranging from industrial applications to household electrical appliances.As is well known,the advantages of sensorless motor drives include lower cost,increased reliability,reduced hardware complexity,better noise immunity,and less maintenance requirements.With the development of modern industrial automation,more advanced sensorless control strategies are needed to meet the requirements of applications.For sensorless motor drives at low-and zero-speed operation,inverter nonlinearities and motor parameter variation have significant impact on the stability of control system.Meanwhile,high observer’s bandwidth is required in high-speed region.This paper introduces the state of art of recent progress in sensorless AC motor drives.In addition,this paper presents the sensorless control strategies we investigated for practical industrial and household applications.Both advanced sensorless drives of induction motor(IM)and permanent magnet synchronous motor(PMSM)are presented in this paper.
摘要For a brushless DC motor(BLDCM)with a salient pole structured rotor,its self-inductance and mutual-inductance present sinusoidal variations periodically,which results in regular changes of three-phase terminal voltage waves during the unexcited period,as shown in Fig.1.
基金supported in part by the National Key R&D Program of China under Grant 2019YFB1503700in part by the National Natural Science Foundation of China under Grant 51977191。
摘要Inductance asymmetry,which is brought by inherent asymmetric parameters,manufacture tolerance,winding fault,cables with unequal lengths,etc.,of permanent-magnet synchronous machines(PMSMs)can cause current harmonics and inaccurate position estimation.This paper proposes an enhanced fundamental model based sensorless control strategy for PMSMs with asymmetric inductances.The proportional-integral-resonant current regulator is introduced to reduce the second-order harmonics of currents,but there are still negative sequence components in the estimated back-electromotive forces(EMFs),which can cause the position estimated error.Differing from conventional methods in which negative sequences are filtered out before the phase-locked loop(PLL)module,the proposed method directly applies the estimated back-EMF with negative sequences as the reference input of PLL.An improved PLL with a bi-quad filter is proposed to attenuate the arising second harmonic position error and heighten the steady-state accuracy.Then,this position error is used for asymmetric inductance identification and its result is utilized to update the observer model.Furthermore,the dynamic performance is improved by the output limitation on the bi-quad filter as well as the implementation of a fast-locking technique in the PLL.The effectiveness of the proposed scheme is verified by experimental results.
摘要We propose a position sensorless control scheme for a four-switch,three-phase brushless DC motor drive,based on the zero crossing point detection of phase back-EMF voltages using newly defined error functions(EFs). The commutation in-stants are 30° after detected zero crossing points of the EFs. Developed EFs have greater magnitude rather than phase or line voltages so that the sensorless control can work at a lower speed range. Moreover,EFs have smooth transitions around zero voltage level that reduces the commutation errors. EFs are derived from the filtered terminal voltages vao and vbo of two low-pass filters,which are used to eliminate high frequency noises for calculation of the average terminal voltages. The feasibility of the proposed sensorless control is demonstrated by simulation and experimental results.
基金supported by National Natural Science Foundation of China(Nos.61104072 and 11271309)
摘要This paper presents a backstepping control method for speed sensorless permanent magnet synchronous motor based on slide model observer. First, a comprehensive dynamical model of the permanent magnet synchronous motor(PMSM) in d-q frame and its space-state equation are established. The slide model control method is used to estimate the electromotive force of PMSM under static frame, while the position of rotor and its actual speed are estimated by using phase loop lock(PLL) method. Next,using Lyapunov stability theorem, the asymptotical stability condition of the slide model observer is presented. Furthermore, based on the backstepping control theory, the PMSM rotor speed and current tracking backstepping controllers are designed, because such controllers display excellent speed tracking and anti-disturbance performance. Finally, Matlab simulation results show that the slide model observer can not only estimate the rotor position and speed of the PMSM accurately, but also ensure the asymptotical stability of the system and effective adjustment of rotor speed and current.
摘要An approach of position sensorless control for permanent magnet synchronous motor ( PMSM ) is put forward based on a sliding mode observer. The mathematical model of PMSM in a stationary αβ reference frame is adopted, and the system is controlled by the digital signal processor ( DSP; TMS320LF2407 according to the control achieve closed loop operation of the motor, the stator theory of sliding mode observer. In order to magnetic field should be vertical with the rotor magnetic field and be synchronous with rotor rotating, so the position and speed of PMSM is estimated in real time and the estimated position is modified continuously. The simulation results indicate that the proposed observer has high precision is more robust to the parametric variation and load in estimation of PMSM position and speed, and torque disturbance.
基金This work has been partly supported by National Natural Science Foundation of China(NSFC 51877093,51707079,and 51807075),National Key Research and Development Program of China(Project ID:YS2018YFGH000200),and Fund。
摘要In this paper,a sensorless control strategy of a permanent magnet synchronous machine(PMSM)based on an improved rotor flux observer(IFO)is proposed.Due to the unknown integral initial value and the high harmonics caused by current sampling and inverter nonlinearities,the flux linkage estimated by traditional rotor flux observer may be inaccurate.In order to address these issues,a self-adaptive band-pass filter(SABPF)is designed to eliminate the DC component and high-frequency harmonics of the estimated equivalent rotor flux linkage.Furthermore,in order to avoid that the design of PI parameter is influenced by the amplitude of equivalent rotor flux linkage,an improved phase-locked loop(IPLL)is employed to obtain the rotor speed and to normalize the estimated equivalent rotor flux linkage.In addition,angle shift caused by an SABPF is compensated to improve the accuracy of the estimated flux linkage angle.Besides,the parameter robustness of this method is analyzed in detail.Finally,simulation and experimental results demonstrate the effectiveness and parameter robustness of the proposed method.
摘要This paper proposes the operation principle and a new flux estimation method for sensorless control strategy for the dual-fed flux modulated electric motor(DFFM).The DFFM is designed based on the flux modulation theory,it includes two stator windings and one rotor which simplify the mechanical structure.The rotor has only modulation iron and no permanent magnets on it,so there is no cogging torque problem in this motor.With adjustment of the outer and inner stator flux rotating frequency and amplitude,different rotation speed and torque of the sandwiched rotor can be gained for the DFFM.Furthermore,an improved flux estimation based sensorless control strategy is performed on the proposed machine to fit the two winding set control situation.The startup and performance of the proposed control strategy is verified by the simulation and experiments.
基金This work partially supported by the JSPS--CAS Core-University Program on Plasma and Nuclear Fusion
摘要Magnetic sensorless sensing experiments of the plasma horizontal positionhave been carried out in the superconducting tokamak HT-7. The horizontal position is calculatedfrom the vertical field coil current and voltage without using signals of magnetic probes placednearby a plasma. The calculations are focused on the ripple frequency component of the power supply.There is no drift problem with the time integration of magnetic probe signals. The error of thederived plasma position is lower than 2% of the plasma minor radius.
摘要The control platform of the induction motor (IM) with low costs is developed by using DSP MC56F8013 with a good performance/price rtaio. The control algorithm for the speed sensorless IM is studied based on the stator flux orientation (SFO). The algorithm structure is simple to be implemented and cannot be influenced by motor parameters, The improved stator flux estimation is used to compensate errors caused by the low pass filter (LPF). A new speed regulator is designed to ensure the system working with the maximal torque in the transient state. The system simulation and the prototype experiment are made. Results show that the con- trol system has good dynamic and static performance.