Position and Speed Sensorless Control of Permanent Magnet Synchronous Motors By Ali Khurram A DISSERTATION Submitted to Michigan State University in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY Department of Electrical and Computer Engineering 2001 roduced with permission of the copyright owner. Further reproduction prohibited without permission.where @; and 6; are the positions at two instants of time t; and t;, respectively. Rewriting (2.8), where, (9) — i(k) #6) — tk) The calculated phase inductance is then used to estimate the rotor position, using a set of stored data that relates the phase inductance with the rotor position. Harris and Lang (13] have proposed to inject diagnostic voltage pulses into the non- conducting phase. The resulting currents are evaluated to measure the phase induc- tances. From these inductances, instantaneous motor position is estimated. Ehsani and Husain [8] suggested an alternative analog phase inductance method, which mon- itors the mutually induced voltages in unused adjacent phases. The induced voltages can be used to estimate inductance and hence position. The disadvantage of signal injection is thus avoided. The variable inductance approach has the limitation that it works only with anisotropic rotors and also when the variation of the inductance with the rotor posi- tion is both sufficient and accurately known. Its principal advantage is that the zero speed is handled more easily with this method than the EMF approach. As with other methods described, errors can occur if assumed values of motor parameters are incorrect, for example if the resistance is inaccurate, due to thermal effects, then as the current increases, the error in estimated position also increases. 2.4.5 Observers One way to extract all the required information is to model the dynamics of the motor, drive this motor model with the same input as is used to drive the real motor, and somehow ensure that errors between the modeled motor and real motor are minimized. 20 ‘oduced with permission of the copyright owner. Further reproduction prohibited without permission.x) u(t) xe) xO #O= f(x u) yO) = h(x,u) 30) = f Gu) + KIO -ACw)] y 0) Figure 2.5. The structure of an observer. If this can be done, the states of the modeled motor will effectively summarize all the information in the waveforms up to the present time, and the model will accurately reflect the behavior of the real motor. A state observer extends this idea. Here, an output is defined as a function of the states, and this output is compared with the equivalent measured output of the real motor. Any error between the two signals is then used to correct the state trajectory of the observer. This processing is shown in Figure 2 An observer is often implemented to reconstruct the inaccessible states in a system. It is driven by the available system inputs and outputs and it may be implemented using hardware or software. ‘The models for PMSMs are nonlinear, and estimation theory for nonlinear systems is not as well developed as the wealth of knowledge available for linear systems such as DC motors. 21 ‘oduced with permission of the copyright owner. Further reproduction prohibited without permission.