S02 Sensorless Control for Electric Motors
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Transcript of S02 Sensorless Control for Electric Motors
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8/10/2019 S02 Sensorless Control for Electric Motors
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Sensorless Control for
Yang Hu
Tejas Bhandare
University of Central Florida, Orlando, FL 32816
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Outline
1)Advantages of Sensorless Control
3)Simulation Model of EKF Sensorless Control System
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Why Sensorless?
Motor control needs feedback information like rotor
position and speed, etc.
Mechanical sensors increases instability and cost of the
system
Simplicity
Lower cost
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Position Estimation
Back EMF
The rotating rotor will induce a voltage in the winding,
w c can e e ec e an use o es ma e e ro or
position
- . ,
voltage is too small that the signal to noise ratio is too
low. Signal injection
Inject some voltage or current signals (usually high
signals to detect rotor position
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Back EMF
he induced voltage
is dependent on therotor speed
By measuring current
and voltage of thes a or w n ngs, eback EMF information
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Model reference adaptive system
Two models one is forestimation, one is the realmodel
Every state variable in thers mo e s o serva e
Only current and voltages of
the real motor model is
Compare the two modelsand adjust the estimationmodel
Highly dependent onparameter accuracy
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State Observer or Kalman filter
Dynamic equation of state variables and output equation
x Ax Bu
Use some iteration to approach the real position/speedy Cx
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Signal Injection
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Implementation
Read some literature and implemented a PMSM
sensorless control system in Simulink
Extended Kalman filter is used for estimation. This is a
kind of observer method.
feedback to control the motor
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Kalman Filter
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System
State variables and PMSM dynamic equation
( )gx x
= L / R
Assume Ld = Lq = L .
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System
Observable variables are d-q currents. Use them as output
vector
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Kalman Filter
Estimate state variables of next time step, then calculate
the error covariance matrix, and also the error of
,
the coefficients
Traditional observer:
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Simulation System
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Extended Kalman Filter
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EKF Sensorless control
Successfully tracking the stroke without a sensor, and controlling well.
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References
Zedong Zheng; Fadel, M.; Yongdong Li; , "High Performance PMSM Sensorless Control with Load Torque Observation,"
EUROCON, 2007. The International Conference on "Computer as a Tool" , vol., no., pp.1851-1855, 9-12 Sept. 2007
Kye-Lyong Kang; Jang-Mok Kim; Keun-Bae Hwang; Kyung-Hoon Kim; , "Sensorless control of PMSM in high speed range
with iterative sliding mode observer," Applied Power Electronics Conference and Exposition, 2004. APEC '04. Nineteenth
Annual IEEE , vol.2, no., . 1111- 1116 vol.2, 2004
Sakamoto, K.; Iwaji, Y.; Endo, T.; Takakura, T.; , "Position and speed sensorless control for PMSM drive using direct position
error estimation," Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE , vol.3, no.,pp.1680-1685 vol.3, 2001
Hung-Chi Chen; Wei-Shun Huang; Jhen-Yu Liao; , "PMSM sensorless control with Coordinate Rotation Digital Computer,"
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society , vol., no., pp.951-955, 7-10 Nov. 2010
Yan Liang; Yongdong Li; , "Sensorless control of PM synchronous motors based on MRAS method and initial position
estimation," Electrical Machines and Systems, 2003. ICEMS 2003. Sixth International Conference on , vol.1, no., pp. 96- 99
vol.1, 9-11 Nov. 2003
Ji-Hoon Jang; Seung-Ki Sul; Jung-Ik Ha; Ide, K.; Sawamura, M.; , "Sensorless drive of surface-mounted permanent-magnet
motor by high-frequency signal injection based on magnetic saliency," Industry Applications, IEEE Transactions on , vol.39,. , . - , - .
Sepe, R.B.; Lang, J.H.; , "Real-time observer-based (adaptive) control of a permanent-magnet synchronous motor without
mechanical sensors," Industry Applications Society Annual Meeting, 1991., Conference Record of the 1991 IEEE , vol., no.,
pp.475-481 vol.1, 28 Sep-4 Oct 1991
Andreescu, G.-D.; Pitic, C.I.; Blaabjerg, F.; Boldea, I.; , "Combined Flux Observer With Signal Injection Enhancement for
Wide Speed Range Sensorless Direct Torque Control of IPMSM Drives," Energy Conversion, IEEE Transactions on , vol.23,
no.2, pp.393-402, June 2008 Ji-Hoon Jang; Jung-Ik Ha; Ohto, M.; Ide, K.; Seung-Ki Sul; , "Analysis of permanent-magnet machine for sensorless control
based on high-frequency signal injection," Industry Applications, IEEE Transactions on , vol.40, no.6, pp. 1595- 1604, Nov.-
Dec. 2004