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EPE 2009 - Subtopic 12-3 - DS: 'High Performance Drives'
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2009 - Conference > EPE 2009 - Topic 12: 'High Performance Drives' > EPE 2009 - Subtopic 12-3 - DS: 'High Performance Drives'
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	A comparison of low speed sensorless control techniques for low voltage PM machines   By Adam CURSON, Mark SUMNER	[View]   [Download]
Abstract: Two encoderless control methods for permanent magnet machines are compared for automotive applications. At low and zero speeds, model based methods cannot be utilised, and therefore a saliency tracking method is needed. A “d-axis injection” method and a “current derivative” method are evaluated in terms of quality of position signal and additional current distortion introduced. The acoustic noise produced by both methods is also compared. The acoustic noise is important in automotive applications as it can affect driver comfort. Experimental tests for a low voltage 1kW SMPM (Surface Mounted Permanent Magnet) machine for a wide range of loads indicate that the current derivative method performs better than the d-axis injection method for quality of position signal, and it also introduces a lower audible noise. However for both techniques the quality of the position estimate is improved at the expense of additional audible noise and additional current distortion.
	A Novel Method of Maximum-power Operation for IPMSMs in DTC system   By Yukinori INOUE, Shigeo MORIMOTO, Masayuki SANADA	[View]   [Download]
Abstract: This paper proposes a novel method of maximum power operation for permanent magnet synchronous motors in a direct torque control system. Torque limiting satisfying current limiting is based on the power equation instead of the motor model in the rotating d-q frame, which is synchronized to the rotor magnet. This method of torque limiting does not require the motor parameters to be determined and simplifies calculation for the limitation. The proposed method incorporates flux-weakening control that does not require motor parameters other than the armature resistance to be determined. The proposed motor drive system can achieve stable control and control that is not sensitive to parameter variation. The proposed method is validated through simulation and experimentally.
	A Robust Sensorless AC Motor Drive based on Simple Flux Observer with Voltage Error Compensation    By KOZO IDE, Sadayuki SATO, Hideaki IURA, Shinya MORIMOTO, Stefan HAEUSER, Carsten SCHREITER	[View]   [Download]
Abstract: This paper describes a new flux observer with voltage error compensation for sensorless AC motor drives. Incorporated with conventional open loop sensorless drive, the proposed observer gives good performance on the speed control like closed loop sensorless drive. Furthermore, the proposed drive system shows robust feature concerned with parameter variation from set-values without direct parameter tuning. The observer estimates flux, current, and error vectors simultaneously in the rotor reference frame from an EMF command and measured currents. The estimated flux vector is utilized in both optimal flux control and speed compensation, and the estimated error vector deriving from voltage command error is utilized to compensate the voltage command. The system has very simple scheme in practical point of view. The modeling and design of the observer are described, and some test results are shown to verify the performance of the proposed system.
	acuuracy of the sensorless determined rotor position for industrial standard drives in the whole speed range   By Manfred SCHROEDL, Wolfgang STAFFLER, Matthias HOFER	[View]   [Download]
Abstract: This paper gives a view about a standardized implementation of a combined INFORM/EMF–model to cover the full speed range of sensorless permanent magnet synchronous motor drives. A special feedback loop returns the output information of the observer to the integrating voltage model. Thus, a stable operation with high robustness against parameter uncertainties and low frequency disturbances is achieved.
	Adaptive Full Order Observer based Stable Speed Sensorless Scheme for Vector Controlled Induction Motor Drives   By IBAN VICENTE, Aitor ENDEMAÑO, Xabier GARIN, Martin BROWN	[View]   [Download]
Abstract: The full-order Luenberger flux observer (FOLO) combined with adaptive techniques is the most widely used method for sensorless induction machine (IM) vector controlled drives. However, IM model-based sensorless schemes have an inherently unstable region under regenerating conditions. Additionally, the stator resistance is also required at low speeds, which leads to a complicated multiple-input multiple-output (MIMO) system. In this paper, the simplification of the MIMO system into a single-input single-output (SISO) system by the two-time scale approach is proposed for a simple, but systematic, design procedure of the sensorless scheme. The stabilization of the regenerating region is solved by the “observer gains retuning” method and a novel “augmented error signal” for the stator resistance estimator. In addition, the IM model adopted allows combining the stabilization strategy with a simple and flexible observer gains tuning method based on the current and voltage estimator models. This method has significant promise for improving observer characteristics such as estimation convergence speed, damping and sensitivity against parameter mismatch. The suggested scheme is suitable for any vector controlled drive and it has been successfully validated in a 7.5kW experimental testbench with the rotor flux oriented vector control (RFOC) drive and the indirect self-control (ISC) drive. The stability and behaviour of the sensorless scheme is successfully verified for all operating conditions above 0.4Hz stator frequency.
	Analysis of Inverter Nonlinearity Effects on Sensorless Control for Permanent Magnet Machine Drives based on High-Frequency Signal Injection   By Karsten WIEDMANN, Florian WALLRAPP, Axel MERTENS	[View]   [Download]
Abstract: This paper reports on inverter nonlinearity effects on sensorless control methods based on High-Frequency Signal Injection (HF-Injection). Inverter output voltage distortions and their influence on position detection are described analytically and their compensation is discussed. Furthermore it is pointed out that the effects of inverter nonlinearities on sensorless control depend on whether the rotating or the pulsating HF-Injection is applied. It is shown that their influence is small if pulsating HF-Injection is used and the stator current at fundamental frequency is aligned with the q-axis of the rotor.
	Challenges and Limits of Extended Kalman Filter based Sensorless Control of Permanent Magnet Synchronous Machine Drives   By Zdenek PEROUTKA, Vaclav SMIDL, David VOSMIK	[View]   [Download]
Abstract: A sophisticated simulator of permanent magnet synchronous machine (PMSM) drive was developed and is used for research into model-based sensorless control strategies. In this paper, we focus on estimators based on the extended Kalman Filter (EKF). The limits and possible improvements of the EKF are investigated using the developed simulator and real data recorded on designed laboratory prototypes of PMSM drives. From the viewpoint of possible improvement of the estimator, the main attention has been paid to the following phenomena: (i) uncertainty of a stator voltage vector (effects of dead-times, non-linear voltage drops on power devices, etc.), (ii) impact of imperfect model discretization, and (iii) impact of unknown load torque. These phenomena are analyzed and the results are used to tune covariance matrices of the EKF via a semi-analytical approach. Theoretical results are verified by experiments made on two developed prototypes of PMSM drive of rated power of 10.7kW and 310W. Finally, this paper summarizes the major limits of EKF and proposes prospective ways for further research leading to reduction of these limits.
	Comparison of Two Sensorless Permanent Magnet Synchronous Motor Drives Fed by a Matrix Converter and a Voltage Source Inverter Using Fundamental PWM Excitation    By Qiang GAO, Yahan HUA, Mark SUMNER, Greg ASHER	[View]   [Download]
Abstract: It has been reported that the fundamental Space Vector PWM (SVPWM) waveforms of both a DC link voltage source inverter (VSI) and a matrix converter (MC) can be used as excitation signals for position estimation of a Permanent Magnet Synchronous Motor (PMSM). This paper evaluates the quality of the position estimates as well as the influence when the sensorless algorithm is implemented on a VSI and a MC.
	Direct Torque and Flux Control of an IPM Synchronous Motor Drive Using a Backstepping Approach   By Gilbert FOO, FAZ RAHMAN	[View]   [Download]
Abstract: This paper presents a novel direct torque and flux controlled interior permanent magnet synchronous motor (IPMSM) drive using an adaptive backstepping technique. Closed-loop regulation of the speed, torque and stator flux linkage are achieved by a nonlinear controller. Using Lyapunov analysis, the stability of the controller is guaranteed. The reference voltage vectors are generated by a SVM unit, which replaces the switching table in the conventional DTC scheme. Whilst retaining its main advantages, the proposed backstepping controller features reduced torque and flux ripples as compared to the classical DTC. On the hand, a comparison with the PI direct torque and flux control (DTFC) scheme shows that the proposed approach is superior. Experimental results confirm the effectiveness of the proposed method.
	Influence of Magnetic Saturation of Non-Salient pole Permanent Magnets Synchronous Motors on Performance of a Servo Drive   By Radoslaw NALEPA, Fabian MINK, Stephan BEINEKE, Alexander BÄHR	[View]   [Download]
Abstract: Challenges and proven solutions dedicated to the field oriented vector control (FOVC) of magnetically saturated Permanent Magnets Synchronous Motors (PMSM) are discussed in this paper. It has been noticed that in case a PMSM operating in magnetic saturation the feedback currents in the d- q-reference frame oscillate at six times the electrical frequency. The oscillation mechanism has been analyzed and explained based on mathematical modeling in Matlab-Simulink and on finite elements modeling (FEM). The oscillations are quite often identified with the zero crossing effect. This research work decoupled those two oscillations driving mechanisms by using an electric power drive with a minimum dead time of the switching IGBTs what is equivalent to negligible zero crossing effect. In terms of solutions a FOVC scheme combined with a predictive current observer and gain adaptation of a current compensator is proposed. Practical guidelines for the observer gain selection and the adaptive scheme settings are given. Experimental results with the original FOVC scheme and step by step modifications towards better performance are presented in this paper. The future work recommendations and conclusions are also included. Proposed solution is important from practical point of view. It can make an electric power drive running stable with a PMSM in a deep magnetic saturation.
	Low Speed and Regenerating Operation of Sensorless Vector Control System of Induction Motor Using Observer Gain Tuning and High Frequency Injection Technique   By Kazuhiro OHYAMA	[View]   [Download]
Abstract: This paper proposes the sensorless control system of induction motor using the observer gain tuning and high frequency injection techniques. The high frequency injection is activated by the condition of observer gain k. The high frequency injection technique is based on magnetic saliencies caused by the saturation and high frequency injection. In the test for low speed operations around zero stator frequency, the improvement of stability was verified under the condition of steady state and using the tuned resistance parameters. However the proposed method was not efficient for the transient responses, the possibility to eliminate the unstable operating region around zero stator frequency was shown.
	Robust Stability of Current Control System to Parameter Errors in Sensorless Control Based on Maximum Torque Control Frame   By HAJIME HIDA, Yoshio TOMIGASHI, kenji UEYAMA, Shigeo MORIMOTO	[View]   [Download]
Abstract: In this paper, the stability of the current control system in a sensorless method based on the maximum torque control frame (MTCF) which we have proposed is described. First, the closed-loop transfer function of the current control system considering position errors on the MTCF is derived. Next, the influence of the position estimation error on parameter errors in the steady state is examined. Since the parameter (Lqm) which is used in estimation of the MTCF is less affected by magnetic saturation than the conventional parameter Lq, the position estimation error in the proposed method can be suppressed to a far greater degree compared to that in the conventional method, even if the parameter Lq changes as a result of magnetic saturation. The pole assignment on the position estimation error, which is caused by parameter errors, is then investigated. The pole assignment in the proposed method changes only slightly when a position estimation error exists. As a result, the proposed method is more stable than conventional methods in the presence of parameter errors.
	Robustness Analyses and Improvement for Position Sensorless Control of IPMSMs to Inductance Variation due to Magnetic Saturation   By Masaru HASEGAWA, Satoshi YOSHIOKA, Keiju MATSUI	[View]   [Download]
Abstract: This paper proposes a new robust position sensorless control of Interior Permanent Magnet Synchronous Motors(IPMSMs) to inductance variation using the un-known input observer. In position sensorless control of IPMSMs, accurate motor parameters are required for position estimation. However, inductance variation due to magnetic saturation is known to heavily deteriorate performance of sensorless control. The authors has already proposed un-known input observer for position sensorless control of IPMSMs. This paper shows that the proposed observer possesses high robustness to magnetic saturation by analyses and experiments.
	Rotor Position Sensor Fault Detection Isolation and Reconfiguration of a Doubly Fed Induction Machine Control   By MERIEM ABDELLATIF, MARIA PIETRZAK-DAVID, ILHEM SLAMA-BELKHODJA	[View]   [Download]
Abstract: In this paper, a Doubly Fed Induction Machine (DFIM) operating in motor mode and supplied by two Voltage Source Inverters (VSI), in stator and rotor sides, is presented. The aim is to analyze the position sensor fault effects on a Direct Torque Control (DTC) of the DFIM. This justifies the necessity of a reconfiguration control when a position sensor fault appears in order to avoid an interruption in system operations. In the other hand, this study emphasizes the close dependency between system performance and the output accuracy of the rotor position sensor. Moreover, simulation results point out the operation system deterioration in case of position sensor fault, which leads in most cases to its shut down in contrast to industrial expectations. This work presents a control reconfiguration for a DFIM speed drive when a position sensor fault occurs, in order to ensure system service continuity. For this purpose, SABER simulation results illustrate the system behavior before and after a position sensor fault. System performance preservation is carried out after control reconfiguration. The proposed solution is relevant especially due to its simplicity.
	Sensorless Adaptive Sliding Mode Control of an IPM Synchronous Motor Drive Using a Sliding Mode Observer and HF Signal Injection   By Gilbert FOO, FAZ RAHMAN	[View]   [Download]
Abstract: This paper proposes a nonlinear sliding mode speed control scheme for interior permanent magnet synchronous motor (IPMSM) drives. The drive uses an adaptive sliding mode observer for rotor speed estimation. Global asymptotic stability of both the controller and observer are guaranteed by Lyapunov stability analysis. Very low speed and standstill performance of the drive is further enhanced by combining high frequency signal injection with the sliding mode observer. Hence, the sensorless drive is capable of exhibiting high dynamic and steady-state performances over a wide speed range. Experimental results confirm the effectiveness of the proposed method.
	Sensorless Control for a PM Machine with Reduced Current Distortion using Space Vector PWM Excitation   By Yahan HUA, Greg ASHER, Mark SUMNER, Qiang GAO	[View]   [Download]
Abstract: A sensorless control system for a surface mounted permanent magnet (PM) machine is developed which uses measurement of motor current derivative during the fundamental PWM vector excitation only. Vector extension is required when the vector width falls below a minimum time duration. The extension is made to allow the high frequency switching oscillations due to parasitic capacitances in the drive to die down. This paper introduces a new method to reduce these high frequency switching oscillations, in order to achieve position estimation with lower motor current distortion. Experimental results demonstrate the improved sensorless speed and position control using the proposed method.
	Sensorless Control of Induction Machines with different Designs - Impact on Signal Processing   By Thomas WOLBANK, Mohamed METWALLY	[View]   [Download]
Abstract: This paper addresses the sensorless control scheme of induction machines using transient voltage excitation at zero and low frequencies. The method is based on saliency detection through the use of pulse excitation and the evaluation of the response of the machine line currents changes. Different signal processing structures are necessary for the rotor position estimation. The estimation algorithm of the full pitched stator winding machine depends on the slotting signal, whereas the estimation algorithm of the short pitched winding machine depends on the inter-modulation signal. Measurement results show the performance of the arrangement allowing a sensorless determination of the rotor position of induction machines with different stator windings and un-skewed rotor using artificial neural networks, and fast Fourier transform at low and zero speed operation.
	Sensorless Drive With Synchronous Machine and Submersible Inverter for Oil-Drowned Pump   By Evgeniy VYDUMKIN	[View]   [Download]
Abstract: The work is intended to explain the basic ideas related to design of sensorless drive with high-speed permanent magnet synchronous machine and vector control system for the oil-drowned pump. The drive and it’s control system must allow the pump operating very reliably under heavy conditions. The digital control system has a hierarchy local-distribute structure. The upper level is a ground control. The low level is a local-distribute control system, which has four drive controls. With the aim to reduce the cost of the drive and to increase reliability the sensorless pump drive is designed. Original observation algorithms of both position and rotational velocity for exterior permanent magnet synchronous motors are designed. The system simulation has confirmed high dynamic accuracy and in addition simplification of algorithm of digital control, reduction of the requirements to computing capacity of the controller
	Sensorless position detection in PM synchronous motors by injecting a high-frequency zero-sequence carrier   By Roberto LEIDHOLD, Peter MUTSCHLER	[View]   [Download]
Abstract: Based on the magnetic saliencies of a PM synchronous motor, it is possible to indirectly detect the position of the rotor by measuring only electric variables. This is the case of the sensorless or self-sensing methods. Even in motors with surface mounted magnets the magnetic saliencies are present due to the saturation that the rotor flux produces in the stator. In order to track these saliencies, an exploring signal is usually injected through the inverter of the drive. By using the inverter, the exploring signal is limited in frequency, limiting in turn the dynamics of the position detection. Furthermore, the exploring signal may detrimentally interact with the controller, it produces audible noise and the sensorless algorithm must be embedded with the controller. A new approach consists in injecting the carrier through a small auxiliary inverter. This method allowed implementing the position detection with total independency of the control algorithm, modulation method and frequency used in the main inverter. This can be an advantage in high power drives where the switching frequency is kept low. The auxiliary inverter must feed only a few watts. However, it is a three-phase one, must be coupled with a three-phase transformer and filter system, and requires to be driven with a rather complex space vector-PWM. The new sensorless method proposed in the present paper also uses an auxiliary inverter, but requires a much simpler hardware system. It uses a one-phase inverter connected to the neutral point of the motor and generates only a square wave voltage with fixed frequency and amplitude. In addition, it will be shown that by injecting the carrier in the neutral point, a higher sensitivity to the magnetic saliency is obtained than by the usual methods. An analysis of the advantages and difficulties of the proposed method, as well as experimental results, are presented.
	Sensorless Speed Control with a MRAS Speed Estimator for Single-Phase Induction Motors Drives   By Rodrigo PADILHA VIEIRA, Hilton ABÍLIO GRÃœNDLING	[View]   [Download]
Abstract: This paper investigates the problem of single-phase induction motor (SPIM) sensorless speed control. A discrete time PI controller and a sensorless technique are implemented on a PC-based platform using a standard three-phase inverter drive and vector control. An indirect rotor flux oriented control technique is developed based on a sensorless technique. A MRAS with a Kalman Filter algorithm is developed for a rotor speed estimation. Simulation and experimental results are presented to validate the effectiveness of the method.
	Sigma–Delta Modulation for VSI driven Asymmetrical Dual Three–phase AC machines   By Joel PRIETO CORVALAN, Federico BARRERO, Sergio TORAL, Mario DURAN	[View]   [Download]
Abstract: Sigma–Delta Modulation (SDM) technique, well known in the telecommunication industry, has recently shown its feasibility in power converters. In this paper, the application of SDM for the voltage modulation in multiphase drives is analyzed. Simulation results compare SDM with other advanced modulation techniques, like the Space Vector Modulation method, and confirm its viability in an asymmetrical dual three–phase AC machine.
	Signal Injection Method without Torque Variation for Salient-pole Synchronous Motors   By Takumi OHNUMA, Shinji DOKI, Shigeru OKUMA	[View]   [Download]
Abstract: This paper presents a signal injection method without torque variation for the position sensorless control. Proposed method utilizes the maximum torque control frame that makes torque ripple caused by a signal injection minimized. It is proved from the definition of the maximum torque control frame and evaluated by experimental results.
	Statistic Properties of a Sensorless Control Method for a Three Phase Permanent Magnet Biased Radial Active Magnetic Bearing   By Matthias HOFER, Manfred SCHRÖDL	[View]   [Download]
Abstract: In this paper a sensorless control method for position control of a radial active magnetic bearing is investigated. This novel bearing concept consists of a three phase design utilized by a three phase voltage source inverter. Additionally the stator coils themselves are used for position sensing by electrical current and voltage signals. Especially statistic properties of position estimation during static and sensorless position controlling are discussed. The control architecture of the complete system is presented. Measurement results of the magnetic bearing prototype are used for verification of the theoretical expectations.
	Voltage Vector Correction Based on a Novel Coordinate Transformation for Motor Current Detection Using a Single Shunt Resistor   By Yoshio TOMIGASHI, hajime HIDA, kenji UEYAMA	[View]   [Download]
Abstract: A method of detecting current using a single shunt resistor is required for motor-drive systems in home-electrical appliances to reduce the cost of inverters. This paper proposes a method of correcting the voltage reference vector by converting coordinates from a rotating reference frame into a fixed reference frame. It also proposes a new method of transforming coordinates that is appropriate for the correction. The effectiveness of the proposed approach was confirmed through simulation and an experiment. Currents were clearly detected by using the proposed method. This demonstrated that the new method is suitable for position sensor-less drives in permanent-magnet synchronous motors.