Sensorless Control of Permanent Magnet Synchronous Machine Drives

Professor Zi Qiang Zhu received his PhD degree from the University of Sheffield, U.K., in 1991. He is a Fellow of Royal Academy of Engineering and currently the Head of the Electrical Machines and Drives Research Group at the University of Sheffield. Dr Xi Meng Wu received his PhD degree from the University of Sheffield, in 2020. He is currently a Postgraduate Research Associate at the University of Sheffield.

• About the Authors xvPreface xviiList of Abbreviations xixList of Symbols xxi1 General Introduction 11.1 Introduction 11.2 Permanent Magnet Machines 11.3 Basic Principle of PM BLAC (PMSM) Drives 71.4 Basic Principle of PM BLDC Drives 191.5 Comparison Between PM BLDC (PMSM) and BLAC Drives 221.6 Sensorless Control Techniques and Applications 251.7 Scope of This Book 272 Fundamental Model-Based Sensorless Control 332.1 Introduction 332.2 Flux-Linkage-Based Method 332.3 Back-EMF-Based Method 402.4 Position Observer 482.5 Summary 533 Fundamental Model-Based Sensorless Control--Issues and Solutions 553.1 Introduction 553.2 Integration and Filter 553.3 Back-EMF and Current Harmonics 603.4 Cross-Coupling Magnetic Saturation 633.5 Parameter Mismatch 683.6 Parameter Asymmetry 823.7 Summary 894 Saliency Tracking-Based Sensorless Control Methods 934.1 Introduction 934.2 High-Frequency Model of PM Machines 954.3 High-Frequency Signal Injection in Estimated Synchronous Reference Frame 994.4 High-Frequency Signal Injection in Stationary Reference Frame 1054.5 Position Observer 1204.6 Other Saliency Tracking-Based Methods 1244.7 Summary 1275 Saliency Tracking-Based Sensorless Control Methods--Issues and Solutions 1315.1 Introduction 1315.2 Cross-Coupling Magnetic Saturation 1315.3 Machine Saliency and Load Effect 1385.4 Multiple Saliency Effect 1425.5 Asymmetric Parameters 1445.6 Inverter Nonlinearity Effects 1515.7 Signal Processing Delay 1685.8 Selection of Amplitude and Frequency for Injection Voltage Signal 1715.9 Transition Between Low Speed and High Speed 1815.10 Summary 1846 Saliency Tracking-Based Sensorless Control Method Using Zero Sequence Voltage 1896.1 Introduction 1896.2 Rotating Sinusoidal Signal Injection 1906.3 Conventional Pulsating Sinusoidal Signal Injection 1956.4 Anti-rotating Pulsating Sinusoidal Signal Injection 1966.5 Conventional Pulsating Square-Wave Signal Injection 2076.6 Anti-rotating Pulsating Square-Wave Signal Injection 2096.7 Summary 2207 Sensorless Control of Dual Three-Phase PMSMs and Open-Winding PMSMs 2237.1 Introduction 2237.2 Dual Three-Phase PMSMs 2237.3 Open Winding PMSMs 2467.4 Summary 2588 Magnetic Polarity Identification 2618.1 Introduction 2618.2 Dual Voltage Pulses Injection-Based Method 2638.3 d-Axis Current Injection-Based Method 2658.4 Secondary Harmonic-Based Method 2728.5 Summary 2769 Rotor Initial Position Estimation 2799.1 Introduction 2799.2 Magnetic Saturation Effect 2819.3 Basic Pulse Injection Method Using Three Phase Currents 2839.4 Improved Pulse Injection Method Using Three Phase Currents 2869.5 Pulse Injection Method Using DC-Link Voltage 2949.6 Voltage Pulse Selection 2989.7 High-Frequency Signal Injection-Based Method 3039.8 Summary 30710 Sensorless Control of PM Brushless DC Drives Based on Detection of Zero-Crossing of Back-EMF Waveform 31110.1 Introduction 31110.2 Basics of ZCP Detection 31210.3 ZCP Detection with PWM 31510.4 ZCP Deviation and Solution 32010.5 Freewheeling Angle 33510.6 Machine Design Effect 35210.7 Summary 35811 Sensorless Control Based on Third Harmonic Back-EMF 36111.1 Introduction 36111.2 Detection and Methods 36111.3 BLDC Operation 36511.4 BLAC (PMSM) Operations 37211.5 Position Estimation of DTP-PMSMs 38011.6 Issues with Third Harmonic Back-EMF Detection 38611.7 Issues with Virtual Third Harmonic Back-EMF Detection 39111.8 Summary 40212 Application of Modern Control Theories 40512.1 Introduction 40512.2 Model Reference Adaptive System 40512.3 Sliding Mode Observer 41312.4 Extended Kalman Filter 41812.5 Model Predictive Control 42512.6 Summary 432References 432Appendix A Speed Estimation 435Appendix B Specifications of Prototype Machines and Test Rigs 445Index 449