Sensorless Control of Permanent Magnet Synchronous Machine Drives (E-Book) von Zi Qiang Zhu

About the Authors xv

Preface xvii

List of Abbreviations xix

List of Symbols xxi

1 General Introduction 1

1.1 Introduction 1

1.2 Permanent Magnet Machines 1

1.3 Basic Principle of PM BLAC (PMSM) Drives 7

1.4 Basic Principle of PM BLDC Drives 19

1.5 Comparison Between PM BLDC (PMSM) and BLAC Drives 22

1.6 Sensorless Control Techniques and Applications 25

1.7 Scope of This Book 27

2 Fundamental Model-Based Sensorless Control 33

2.1 Introduction 33

2.2 Flux-Linkage-Based Method 33

2.3 Back-EMF-Based Method 40

2.4 Position Observer 48

2.5 Summary 53

3 Fundamental Model-Based Sensorless Control--Issues and Solutions 55

3.1 Introduction 55

3.2 Integration and Filter 55

3.3 Back-EMF and Current Harmonics 60

3.4 Cross-Coupling Magnetic Saturation 63

3.5 Parameter Mismatch 68

3.6 Parameter Asymmetry 82

3.7 Summary 89

4 Saliency Tracking-Based Sensorless Control Methods 93

4.1 Introduction 93

4.2 High-Frequency Model of PM Machines 95

4.3 High-Frequency Signal Injection in Estimated Synchronous Reference Frame 99

4.4 High-Frequency Signal Injection in Stationary Reference Frame 105

4.5 Position Observer 120

4.6 Other Saliency Tracking-Based Methods 124

4.7 Summary 127

5 Saliency Tracking-Based Sensorless Control Methods--Issues and Solutions 131

5.1 Introduction 131

5.2 Cross-Coupling Magnetic Saturation 131

5.3 Machine Saliency and Load Effect 138

5.4 Multiple Saliency Effect 142

5.5 Asymmetric Parameters 144

5.6 Inverter Nonlinearity Effects 151

5.7 Signal Processing Delay 168

5.8 Selection of Amplitude and Frequency for Injection Voltage Signal 171

5.9 Transition Between Low Speed and High Speed 181

5.10 Summary 184

6 Saliency Tracking-Based Sensorless Control Method Using Zero Sequence Voltage 189

6.1 Introduction 189

6.2 Rotating Sinusoidal Signal Injection 190

6.3 Conventional Pulsating Sinusoidal Signal Injection 195

6.4 Anti-rotating Pulsating Sinusoidal Signal Injection 196

6.5 Conventional Pulsating Square-Wave Signal Injection 207

6.6 Anti-rotating Pulsating Square-Wave Signal Injection 209

6.7 Summary 220

7 Sensorless Control of Dual Three-Phase PMSMs and Open-Winding PMSMs 223

7.1 Introduction 223

7.2 Dual Three-Phase PMSMs 223

7.3 Open Winding PMSMs 246

7.4 Summary 258

8 Magnetic Polarity Identification 261

8.1 Introduction 261

8.2 Dual Voltage Pulses Injection-Based Method 263

8.3 d-Axis Current Injection-Based Method 265

8.4 Secondary Harmonic-Based Method 272

8.5 Summary 276

9 Rotor Initial Position Estimation 279

9.1 Introduction 279

9.2 Magnetic Saturation Effect 281

9.3 Basic Pulse Injection Method Using Three Phase Currents 283

9.4 Improved Pulse Injection Method Using Three Phase Currents 286

9.5 Pulse Injection Method Using DC-Link Voltage 294

9.6 Voltage Pulse Selection 298

9.7 High-Frequency Signal Injection-Based Method 303

9.8 Summary 307

10 Sensorless Control of PM Brushless DC Drives Based on Detection of Zero-Crossing of Back-EMF Waveform 311

10.1 Introduction 311

10.2 Basics of ZCP Detection 312

10.3 ZCP Detection with PWM 315

10.4 ZCP Deviation and Solution 320

10.5 Freewheeling Angle 335

10.6 Machine Design Effect 352

10.7 Summary 358

11 Sensorless Control Based on Third Harmonic Back-EMF 361

11.1 Introduction 361

11.2 Detection and Methods 361

11.3 BLDC Operation 365

11.4 BLAC (PMSM) Operations 372

11.5 Position Estimation of DTP-PMSMs 380

11.6 Issues with Third Harmonic Back-EMF Detection 386

11.7 Issues with Virtual Third Harmonic Back-EMF Detection 391

11.8 Summary 402

12 Application of Modern Control Theories 405

12.1 Introduction 405

12.2 Model Reference Adaptive System 405

12.3 Sliding Mode Observer 413

12.4 Extended Kalman Filter 418

12.5 Model Predictive Control 425

12.6 Summary 432

References 432

Appendix A Speed Estimation 435

Appendix B Specifications of Prototype Machines and Test Rigs 445

Index 449

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 two pioneering authors in the field,Sensorless Control of Permanent Magnet Synchronous Machine Drives covers sample 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, inverter non-linearities, voltage and current harmonics, parameter asymmetries, and parameter mismatches
• Techniques for rotor initial position estimation, magnetic polarity detection, and transition between low and high speeds

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.

Professor Zi Qiang Zhu received his PhD degree from the University of Sheffield, U.K., in 1991. He is a Fellow of Royal Academy of Engineering and currently the Head of the Electrical Machines and Drives Research Group at the University of Sheffield.

Dr Xi Meng Wu received his PhD degree from the University of Sheffield, in 2020. He is currently a Postgraduate Research Associate at the University of Sheffield.