1 37 q 9-11 v v ] = R s i q R ] s i ] + -1 t q ] + ω r q -1 ] ] q 1 ] = L i q L ] q i ] + PM ] q v i R s L L q q Ψ PM θ r ω r q v v ] = R s i R



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15 1 11 1 ELECTRI C MACHINES AND CONTROL Vol. 15 No. 1 Oct. 11 317 - i = i q = bang-bang PID - bang-bang PID TM 341 A 17-449X 11 1-36- 7 Research on self-startup states process of back-emf base sensorless vector control of PMSM WANG Zi-hui YE Yun-yue College of Electrical Engineering Zhejiang University Hangzhou 317 China Abstract A self-startup strategy base on back-emf sensorless control of permanent magnet synchronous machines PMSM was propose. Strategy of spee open-loop an current close-loop was aopte in startup state while a ouble-close-loops of spee an current strategy was aopte in running state where the stator current control was i = i q = constant. In orer to make smooth transition for spee an torque the q axis current was tune by a reference error angle between estimate an given positions so that the error angle coul converge to zero while switching. Research was focuse on the valiity of the sensorless algorithm an compare the current transient process between Bang-bang an PID strategies. Experimental results inicate that this self-startup strategy realizes a smooth an stable acceleration to the rate spee uner the loa conitions from zero to full range an the ouble close-loop control system base on sensorless algorithm has a satisfing ynamic performance. Key wors permanent magnet synchronous machines vector control state conversion angle-current close loop bang-bang control PID control permanent magnet synchronous machines PMSM 1-1 - 15 1984 1951

1 37 q 9-11 v v ] = R s i q R ] s i ] + -1 t q ] + ω r q -1 ] ] q 1 ] = L i q L ] q i ] + PM ] q v i R s L L q q Ψ PM θ r ω r q 1 3-5 v v ] = R s i R ] s i ] + t ] 3 ] = L 1 +L cosθ r L sinθ r i L sinθ r L 1 -L cosθ ] r i ] + cosθ r sinθ ] PM r 4 1% L 1 L + L q L L - L q L 6 v = R s i + p L 1 i + PM cosθ r 5 7 v = R s i + p L 1 i + PM sinθ r 6 p q = 8 u - R s i t 7 θ r = tan - 1 - L 1 i 8 - L 1 i ω r = θ r t 9 6 1% 5% -. 1 1

38 15 PID q * i * = i q * = PID i q * 3 q 1 1 q i qref θ * 棕 PI * i = * q * q Fig. Original phasor iagram in * q * an q axes q v i q* 兹 =9 q * 棕 ref I q* PI 1 I ref 位 置 角 发 生 器 Fig. 1 开 关 1 I qref PI v v q PI 兹 * 1 开 关 兹 棕 i q i q q 琢 茁 琢 茁 位 置 速 度 估 测 器 v 琢 v 茁 v PWM a v b 发 生 器 v c i 琢 i 茁 琢 茁 abc DC Motor i a i b i c 逆 变 桥 PMSM 1 Vector control schematic iagram. 1 T e - T L = J ω t = J θ t 13 T e T L J 1 1 1 i q * * q * q * n p A A i q * θ L θ * q i q * θ * = ω * t 1 ω * = Δω t 11 v q * Δω * q * Δω 3. 1 * q * q q i q * θ L * q * q 9 3 i q 兹 L 兹 L i q* est 兹, 棕 * * q * q Fig. 3 Phasor iagram in * q * an q axes T e = 3 n pi q = 3 pi q * cosθ L mpm + L -L q i q * sinθ L 3

1 39 3 est est * θ' L = θ est - θ * i q * = i q * - k p θ' L 18 est * θ' L = θ L = k p i q * i q * θ' L θ' L q * 1-1 1 3 n pi' q mpm = 3 n pi q * cosθ L t1 mpm + L - L q i q * sinθ L t1 14 i' q = i q * cosθ L t1 ( 1 + L - L q i q * sinθ L t1 ) mpm 15 Δθ = 1 J T e - T L t 16 i q ' CCS 3. 3 θ L t 1 t1 θ L 1 13 1 i q * 16 Table 1 Parameters of PMSM i q * i q ' 额 定 功 率 /kw. i q * 额 定 电 压 /%V 38% 轴 电 感 /mh i q * 额 定 电 流 /A.9 q 轴 电 感 /mh 额 定 转 速 /(r/min) %85-4 着 兹 L_ref 误 差 期 望 值 着 = 兹 L 角 速 度 发 生 器 兹 * 驻 兹 L 兹 est l q* 调 节 器 兹 L 位 置 速 度 估 测 器 iq* 电 磁 转 矩 方 程 i * q q * 兹 * PI abc v i a i b i c 4. kw 1 TI DSP TMS3F8335 FC3 LEM / 参 数 额 定 频 率 /Hz 额 定 转 矩 /(N m) 大 小 95 1.15 参 数 定 子 相 电 阻 ( 冷 态 )/ 赘 主 磁 极 磁 通 /Wb turn 转 动 惯 量 /J m 极 对 数 大 小 8.5 13.4 15.4.13 3 1-3 1. 5 A % 6 r /min 4. 1 5 ~ 7 4-1% Fig. 4 Control strategy flowchart of erroneous angle-current close loop θ' L 3. i q * bang-bang PID 6 i q * bang-bang bang-bang i q * i q * = i q * - Δi q * if θ' L > ε 17 i q * = i q * + Δi q * if θ' L < - ε } i q * i q * Δi q * i q * ε PID

4 15 转 子 角 转 速 ( 估 测 值 )(r/min) 电 流 iq*/a 误 差 角 ( ) Fig. 7 1%98 1%6 1%6 7 36-36 -7-1%6-1%6-1%98 %%%%%%%%%%%%%%%%%%%%%%%5%%%%%%%%%%%%%%%%%%1%%%%%%%%%%%%%%%%%15%%%%%%%%%%%%%%%% Fig. 5 5 Spee uring startup porcess no loa. 1.6 1..8.4 -.4 -.8-1. -1.6 -. %%%%%%%%%%%%%%%%%%%%%%%5%%%%%%%%%%%%%%%%%%1%%%%%%%%%%%%%%%%%15%%%%%%%%%%%%%%%% Fig. 6 6 Current uring startup porcess no loa 18 144 18 7 36-36 19. -7 1.9-18 6.65-144.377-5.9-18 %%%%%%%%%%%%%%%%%%%%%%%5%%%%%%%%%%%%%%%%%%1%%%%%%%%%%%%%%%%%15%%%%%%%%%%%%%%%% 7 est * Erroreous angle between estimate an given positions no loa 4. 8 9 i q * bang-bang Bang-bang 7 1 θ' L θ' L 1 ~ 15. 1.6 1..8.4 -.4 -.8-1. -1.6 -. %%%%%%%%%%%%%%%%%%%%%%%5%%%%%%%%%%%%%%%%%%1%%%%%%%%%%%%%%%%%15%%%%%%%%%%%%%%%% PID -18 %%%%%%%%%%%%%%%%%%%%%%%5%%%%%%%%%%%%%%%%%%1%%%%%%%%%%%%%%%%%15%%%%%%%%%%%%%%%% i q * θ' L PID 1 est * Fig. 1 Erroreous angle between estimate an given positions full k p loa 电 流 iq*/a Fig. 8 电 流 iq*/a Fig. 9 误 差 角 /( ) 8 bang-bang Current uring startup porcess with bang-bang control full loa. 1.6 1..8.4 -.4 -.8-1. -1.6 -. %%%%%%%%%%%%%%%%%%%%%%%5%%%%%%%%%%%%%%%%%%1%%%%%%%%%%%%%%%%%15%%%%%%%%%%%%%%%% 9 PID Current uring startup porcess with PID control 18 144 18 7 36-36 -7-18 -144

1 41 4. 3 5. 44.1 38. DSP 3.4 误 差 角 /( ) 1. 7.78 5.56 3.33 1.11-1.11-3.33-5.56-7.78-1. %%%%%%%%%%%%%%%%%%%%%%%5%%%%%%%%%%%%%%%%%%1%%%%%%%%%%%%%%%%15%%%%%%%%%%%%%%% 11 ± 13 85 r /min 14 Fig. 11 Erroreous angle between estimate an real rotor positions at rate spee no loa 误 差 角 /( ) 1. 7.78 5.56 3.33 1.11-1.11-3.33-5.56-7.78-1. %%%%%%%%%%%%%%%%%%%%%%5%%%%%%%%%%%%%%%%%1%%%%%%%%%%%%%%%%15%%%%%%%%%%%%%%%% 1 85 r /min θ' L Fig. 1 Erroreous angle between estimate an real rotor positions at rate spee full loa 3% %667 %333 转 子 转 速 /(r/min) 转 子 角 机 械 频 率 ( 估 测 值 ) 赘 /Hz Fig. 14 55.9 6.7 6. 5.9 4.59 3.88 6.5 3.18.6.47 1.76 14.7 1.6 8.8.353.94 %%%%%%%%%%%%%%%%%%%%%%%%5%%%%%%%%%%%%%%%%%%%1%%%%%%%%%%%%%%%%%15%%%%%%%%%%%%%%%%% % 1%667 1%333 1% 667 333 1 GENDUSO F MICELI R RANDO C et al. Back EMF sensorless-control algorithm for high-ynamic performance PMSM J. IEEE Transactions on Inustrial Applications 1 57 6 9-1.. J. 7 11 1 5-54. %%%%%%%%%%%%%%%%%%%%%%%5%%%%%%%%%%%%%%%%%%%%1%%%%%%%%%%%%%%%%%%15%%%%%%%%%%%%%%%%% SHI Jian TANG Ningping TAN Chao. New metho for sensorless control technique of PMSM J. Electrical Machines an Con- 13 trol 7 11 1 5-54. Fig. 13 Dynamic spee response with loa 3. 14 电 流 iq Dynamic spee an current responses with onoff loa 11 1-5 V /F q * i * q

4 15 J. 7 7 3 3-7. SHANG Zhe ZHAO Rongxiang DOU Ruzhen. Research on sensorless control metho of PMSM base on an aaptive sliing moe observer J. Proceeings of the CSEE 7 7 3 3-7. 8 5 75-81. CHEN Zhen LIU Xiangong JIN Yongqiang et al. Direct torque control of permanent magnet synchronous motors base on extene kalman filter observer of flux linkage J. Proceeings of the CSEE 8 8 5 75-81. 5. control of PM machines own to zero spee without signal injection or special PWM technique J. IEEE Transactions on Power J. 8 8 9 71-75. Electronics 4 19 6 161-167. WANG Qinglong ZHANG Chongwei ZHANG Xing. Variable - 11 LEE G B PARK J S LEE S H KOWN Y A. High-performance structure MRAS spee ientification for permanent magnet synchro- sensorless control of PMSM using back-emf an reactive power nous motor J. Proceeings of the CSEE 8 8 9 71-75. 6 KIM J S SUL S K. New approach for the low-spee operation of PMSM rives without rotational position sensors J. IEEE Transactions on Power Electronics 1996 11 3 51-519. 7 HOLTZ J QUAN Juntao. Drift an parameter compensate flux estimator for persistent zero stator frequency operation of sensorless controlle inuction motors J. IEEE Transactions on Inustry Applications 3 39 4 15-16. 8 J. 4 38 4 465-469. QIN Feng HE Yikang LIU Yi ZHANG Wei. Rotor position sensorless estimation for permanent magnet synchronous motors J. Journal of Zhejiang University Engineering Science 4 38 4 465-469. 4. 9 MOBARAKEH B N TARBAR F M SARGOS F M. Back - EMF J. 8 estimation base sensorless control of PMSM robustness with respect to measurement errors an inverter irregularities C / /Inustry Applications Conference 4 39th IAS Annual Meeting. Conference Recor of the 4 IEEE October - 7 4 Seattle USA. 4 1858-1865. 1 WANG Chuanyang XU Longya. A novel approach for sensorless C. / /ICCAS-SICE International Joint Conference 9 August 18-1 9 Fukuoka Japan. 9 47-411. 1 FATU M TEODORESCU R BOLDEA I et al. I-F starting metho with smooth transition to EMF base motion-sensorless vector control of PM synchronous motor /generator C / /Power Electronics Specialists Conference 8 IEEE June 15-19 Rhoes Greece. 8 1481-1487.

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