EPE Association: EPE 1997 – 84: Dialogue Session DS5h: SENSORLESS DRIVES

EPE 1997 – 84: Dialogue Session DS5h: SENSORLESS DRIVES - BRUSHLESS MACHINES
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   A SENSORLESS POSITION CONTROL BY SALIENT-POLE BRUSHLESS DC MOTOR
By Nobuyuki Kasa; Hiroshi Watanabe [View]
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Abstract: In this paper, a sensorless position control of a salient-pole brushless DC motor is proposed. In the system, the position angle and the speed at a rotating condition are estimated basically by the model reference adaptive system (MRAS). At an initial or a starting condition, the position angle is estimated by a new AC current injection method. And at a lower speed region, the estimated position angle and the speed obtained from the MRAS are corrected by a new correcting technique. The position angles and the speeds which were estimated values by the MRAS and the AC current injection method are compared and corrected effectively by the correcting system. The experimental results of the estimated position angles or the speed and the variable speed control with the experimental system are shown in the paper. From these results, the proposed sensorless control system may be applicable to a sensorless position control of the brushless DC motor drive system.

   HIGH FREQUENCY METHOD OF SENSOR ELIMINATION IN INTERIOR PERMANENT MAGNET MOTORS
By J. Oyama; M. Mamo; T. Abe; T. Higuchi; E. Yamada [View]
[Download]

Abstract: New sensor elimination method, using the Carrier Frequency Component Voltage (CFCV), in a Pulse Width Modulation(PWM) inverter supplied Interior type Permanent Magnet (IPM) motors control is proposed. Characteristics of the Carrier Frequency Component Voltage (CFCV) and Carrier Frequency Component Current (CFCC) in the PWM inverter are studied and used as the rotor position in:IOrmation source. Mathematical expression relating the rotor position to the CFCV, CFCC and the motor parameter is derived. Using motor parameters and measured CFCV and CFCC the rotor position is to be calculated. The simulation result is presented and discussed. Some laboratory results are also included. Simulation result shows that the expression gives exact rotor position.

   An Improved Method for Sensorless Adaptive Control of Permanent-Magnet Synchronous Motors
By Lennart Harnefors; Peter Taube; Hans-Peter Nee [View]
[Download]

Abstract: In this paper, a new speed and position adaptation algorithm for sensorless control of the permanent-magnet synchronous motor (PMSM) is proposed. The scheme uses information available in the back-emf and is novel in two respects. First, a voltage error rather than a flux or current error is used for adaptation. Secondly, only the steady-state electrical equations of the PMSM are simulated. This is sufficient, if fast closed-loop current control is employed. The result is a very simple algorithm, requiring only 9 multiplications and one division for digital implementation. The algorithm is very robust against inaccurate model parameters, the only sensitive parameter being the q direction inductance. Experimental results demonstrate the effectiveness of the method. The position estimation error remains smaller than 5 electrical degrees at steady-state (even at low speeds) and 20° at transients (at nominal speeds).

   A DSP-BASED CONTROLLER FOR SENSORLESS CONTROL OF SYNCHRONOUS MACHINES
By D. Arab Khaburi; F. Meibody Tabar; A. Comsa; F. M. Sargos [View]
[Download]

Abstract: In vector control of synchronous machines, the rotor position must be known accurately at any time. In this paper a method based on the calculation of Park components of the "emf vector" is used to estimate the rotor position. This method allows to start up the motor from an unknown initial rotor position. It has been tested and applied in sensorless vector control of a permanent magnet synchronous machine by using a digital controller system. This controller comprises a Digital Signal Processor (DSP) and three Analog-to-Digital Converters (ADC). The experimental results prove the validity of the method.

   A PERMANENT MAGNET SYNCHRONOUS MOTOR FLUX CONTROL SCHEME WITHOUT POSITION SENSORS
By G. Pesse; T. Paga [View]
[Download]

Abstract: A pennanent magnet synchronous motors (PMSM) control scheme is proposed. The scheme is based on an optimality algorithm to minimize the magnitude of stator current. This algorithm is used to detenninate the optimal angle between the flux and the current vectors. The outputs of the optimality algorithm in rotor frame, are used to generate three reference values for the statoric currents that are feed to an hysteresis current controlled inverter. Rotor position information needed to calculate the reference stator currents is obtained by a position estimation algorithm, based on flux determination by voltage integration. Computer simulation shows that the proposed scheme accurately controls the PMSM.

   SENSORLESS DIGITAL SIGNAL PROCESSING CONTROL OF A TRAPEZOIDAL BRUSHLESS DIRECT CURRENT MOTOR
By S. D. Grainger; M. Allan; T. Westwood; R. Champaneri [View]
[Download]

Abstract: This paper describes the theory and practice required to implement a sensorless, commutation scheme for a trapezoidal brushless DC motor. It comprises a software algorithm running in real-time on a digital signal processor in order to determine rotor position and hence commutation points. This is desirable in order to eliminate the bulky, temperature sensitive sensors traditionally used. Replacing the traditional sensor has recently been the subject of many papers (Meshkat & Tessarolo [!], Naidu & Bose [2]) but most have stopped short of implementing their systems, instead presenting their results as simulations. In this instance the system has been implemented running in real time on the Texas Instruments TMS320C25 digital signal processor (DSP).

   SENSORLESS CONTROL OF A SWITCHED RELUCTANCE MOTOR USING A KALMAN FILTER
By A. Brösse; G. Henneberger [View]
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Abstract: This paper presents a sensorless control method for the Switched Reluctance Motor using a Kalman Filter. A Finite Element analysis is used to calculate the model of the motor taking magnetic non-linearity into account. The model is used both in the Kalman Filter and to simulate the motor. It is verified by measurements. Two different ways of implementing the Kalman Filter are developed. Measurements show that the closed loop control of a Switched Reluctance Motor using a Kalman Filter is possible.

   KALMAN-FILTER BASED SENSORLESS CONTROL OF AN IPM MOTOR DRIVE
By R. C. Panaitescu; L. E. Nonun [View]
[Download]

Abstract: In this paper a complete sensorless drive system for an Interior Permanent Magnet (IPM) Motor based on the Extended Kalman filter algorithm is presented. The algorithm proposed was tested using computer simulations. The classic states to be estimated were completed with another one, the load torque. This supplementary state brought a substantial improvement of the estimation of the mechanical behaviour of the system. However, the Kalman filler is sensitive to parameter variations. In order to achieve a higher robustness and reliability of the filter, a real-time parameter estimation loop should be added to the control system.

   PRESENT AND FUTURE OF DRIVES, SENSORLESS AND ARTIFICIAL INTELLIGENCE APPLICATIONS
By P. Vas; W. Drury; A. F. Stronach [View]
[Download]

Abstract: The paper attempts to give a survey of the present and future trends and developments in the field of electrical machines and drives. It focuses on speed and position scnsorless implementations and also on artificial intelligence based solutions, these features can be built into intelligent universal integrated high-perfonnance drives. Industrial applications of intelligent techniques in variable-speed drives have only started to emerge recently and the only two known industrial applications by Yaskawa and Hitachi are also discussed in the paper. Although at present there are only limited number of practical AI-based drive applications, but it is believed that in the future, intelligentbased techniques will have a larger role in drives. However, there is still much research work to be done, and classical controllers and estimators will also be used in the foreseeable future. The paper also gives a review of the literature on drives using AI.

   DIRECT TORQUE CONTROL: APPLICATION TO CRANE DRIVES
By F. Busschots; B. Renier; R.Belmans [View]
[Download]

Abstract: Starting from the basic ideas of the direct torque control as implemented in modern drive systems, it is shown how these theoretical developments can be implemented. It is indicated how the dynamic characteristics of the direct torque control can match the requirements of the different motions in crane drives. Several applications are discussed and the need for or the omission of a position sensor is analyzed. Practical implications with regard to safety are discussed. Furthermore, the influence of limited parameter runs on the actual behavior of the drives for the different motions in a crane will be discussed.

EPE 1997 – 84: Dialogue Session DS5h: SENSORLESS DRIVES - BRUSHLESS MACHINES
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1997 - Conference > EPE 1997 – 84: Dialogue Session DS5h: SENSORLESS DRIVES - BRUSHLESS MACHINES
	[return to parent folder]

	A SENSORLESS POSITION CONTROL BY SALIENT-POLE BRUSHLESS DC MOTOR By Nobuyuki Kasa; Hiroshi Watanabe	[View] [Download]
Abstract: In this paper, a sensorless position control of a salient-pole brushless DC motor is proposed. In the system, the position angle and the speed at a rotating condition are estimated basically by the model reference adaptive system (MRAS). At an initial or a starting condition, the position angle is estimated by a new AC current injection method. And at a lower speed region, the estimated position angle and the speed obtained from the MRAS are corrected by a new correcting technique. The position angles and the speeds which were estimated values by the MRAS and the AC current injection method are compared and corrected effectively by the correcting system. The experimental results of the estimated position angles or the speed and the variable speed control with the experimental system are shown in the paper. From these results, the proposed sensorless control system may be applicable to a sensorless position control of the brushless DC motor drive system.

	HIGH FREQUENCY METHOD OF SENSOR ELIMINATION IN INTERIOR PERMANENT MAGNET MOTORS By J. Oyama; M. Mamo; T. Abe; T. Higuchi; E. Yamada	[View] [Download]
Abstract: New sensor elimination method, using the Carrier Frequency Component Voltage (CFCV), in a Pulse Width Modulation(PWM) inverter supplied Interior type Permanent Magnet (IPM) motors control is proposed. Characteristics of the Carrier Frequency Component Voltage (CFCV) and Carrier Frequency Component Current (CFCC) in the PWM inverter are studied and used as the rotor position in:IOrmation source. Mathematical expression relating the rotor position to the CFCV, CFCC and the motor parameter is derived. Using motor parameters and measured CFCV and CFCC the rotor position is to be calculated. The simulation result is presented and discussed. Some laboratory results are also included. Simulation result shows that the expression gives exact rotor position.

	An Improved Method for Sensorless Adaptive Control of Permanent-Magnet Synchronous Motors By Lennart Harnefors; Peter Taube; Hans-Peter Nee	[View] [Download]
Abstract: In this paper, a new speed and position adaptation algorithm for sensorless control of the permanent-magnet synchronous motor (PMSM) is proposed. The scheme uses information available in the back-emf and is novel in two respects. First, a voltage error rather than a flux or current error is used for adaptation. Secondly, only the steady-state electrical equations of the PMSM are simulated. This is sufficient, if fast closed-loop current control is employed. The result is a very simple algorithm, requiring only 9 multiplications and one division for digital implementation. The algorithm is very robust against inaccurate model parameters, the only sensitive parameter being the q direction inductance. Experimental results demonstrate the effectiveness of the method. The position estimation error remains smaller than 5 electrical degrees at steady-state (even at low speeds) and 20° at transients (at nominal speeds).

	A DSP-BASED CONTROLLER FOR SENSORLESS CONTROL OF SYNCHRONOUS MACHINES By D. Arab Khaburi; F. Meibody Tabar; A. Comsa; F. M. Sargos	[View] [Download]
Abstract: In vector control of synchronous machines, the rotor position must be known accurately at any time. In this paper a method based on the calculation of Park components of the "emf vector" is used to estimate the rotor position. This method allows to start up the motor from an unknown initial rotor position. It has been tested and applied in sensorless vector control of a permanent magnet synchronous machine by using a digital controller system. This controller comprises a Digital Signal Processor (DSP) and three Analog-to-Digital Converters (ADC). The experimental results prove the validity of the method.

	A PERMANENT MAGNET SYNCHRONOUS MOTOR FLUX CONTROL SCHEME WITHOUT POSITION SENSORS By G. Pesse; T. Paga	[View] [Download]
Abstract: A pennanent magnet synchronous motors (PMSM) control scheme is proposed. The scheme is based on an optimality algorithm to minimize the magnitude of stator current. This algorithm is used to detenninate the optimal angle between the flux and the current vectors. The outputs of the optimality algorithm in rotor frame, are used to generate three reference values for the statoric currents that are feed to an hysteresis current controlled inverter. Rotor position information needed to calculate the reference stator currents is obtained by a position estimation algorithm, based on flux determination by voltage integration. Computer simulation shows that the proposed scheme accurately controls the PMSM.

	SENSORLESS DIGITAL SIGNAL PROCESSING CONTROL OF A TRAPEZOIDAL BRUSHLESS DIRECT CURRENT MOTOR By S. D. Grainger; M. Allan; T. Westwood; R. Champaneri	[View] [Download]
Abstract: This paper describes the theory and practice required to implement a sensorless, commutation scheme for a trapezoidal brushless DC motor. It comprises a software algorithm running in real-time on a digital signal processor in order to determine rotor position and hence commutation points. This is desirable in order to eliminate the bulky, temperature sensitive sensors traditionally used. Replacing the traditional sensor has recently been the subject of many papers (Meshkat & Tessarolo [!], Naidu & Bose [2]) but most have stopped short of implementing their systems, instead presenting their results as simulations. In this instance the system has been implemented running in real time on the Texas Instruments TMS320C25 digital signal processor (DSP).

	SENSORLESS CONTROL OF A SWITCHED RELUCTANCE MOTOR USING A KALMAN FILTER By A. Brösse; G. Henneberger	[View] [Download]
Abstract: This paper presents a sensorless control method for the Switched Reluctance Motor using a Kalman Filter. A Finite Element analysis is used to calculate the model of the motor taking magnetic non-linearity into account. The model is used both in the Kalman Filter and to simulate the motor. It is verified by measurements. Two different ways of implementing the Kalman Filter are developed. Measurements show that the closed loop control of a Switched Reluctance Motor using a Kalman Filter is possible.

	KALMAN-FILTER BASED SENSORLESS CONTROL OF AN IPM MOTOR DRIVE By R. C. Panaitescu; L. E. Nonun	[View] [Download]
Abstract: In this paper a complete sensorless drive system for an Interior Permanent Magnet (IPM) Motor based on the Extended Kalman filter algorithm is presented. The algorithm proposed was tested using computer simulations. The classic states to be estimated were completed with another one, the load torque. This supplementary state brought a substantial improvement of the estimation of the mechanical behaviour of the system. However, the Kalman filler is sensitive to parameter variations. In order to achieve a higher robustness and reliability of the filter, a real-time parameter estimation loop should be added to the control system.

	PRESENT AND FUTURE OF DRIVES, SENSORLESS AND ARTIFICIAL INTELLIGENCE APPLICATIONS By P. Vas; W. Drury; A. F. Stronach	[View] [Download]
Abstract: The paper attempts to give a survey of the present and future trends and developments in the field of electrical machines and drives. It focuses on speed and position scnsorless implementations and also on artificial intelligence based solutions, these features can be built into intelligent universal integrated high-perfonnance drives. Industrial applications of intelligent techniques in variable-speed drives have only started to emerge recently and the only two known industrial applications by Yaskawa and Hitachi are also discussed in the paper. Although at present there are only limited number of practical AI-based drive applications, but it is believed that in the future, intelligentbased techniques will have a larger role in drives. However, there is still much research work to be done, and classical controllers and estimators will also be used in the foreseeable future. The paper also gives a review of the literature on drives using AI.

	DIRECT TORQUE CONTROL: APPLICATION TO CRANE DRIVES By F. Busschots; B. Renier; R.Belmans	[View] [Download]
Abstract: Starting from the basic ideas of the direct torque control as implemented in modern drive systems, it is shown how these theoretical developments can be implemented. It is indicated how the dynamic characteristics of the direct torque control can match the requirements of the different motions in crane drives. Several applications are discussed and the need for or the omission of a position sensor is analyzed. Practical implications with regard to safety are discussed. Furthermore, the influence of limited parameter runs on the actual behavior of the drives for the different motions in a crane will be discussed.