Single Sensor Three-Phase Permanent Magnet Synchronous Motor Drive based on Luenberger Style-Observers

Bahaa Hafez 1, A. Abdel-Khalik 2, A. M. Massoud 3, Shehab Ahmed 4, and Robert D. Lorenz 5 1 Texas A&M University, College Station TX, U.S.A, 2 Alexandria University, Alexandria, Egypt, 3 Qatar University, Doha, Qatar, 4 Texas A&M University at Qatar, Doha, Qatar 5 University of Wisconsin-Madison, WEMPEC, Madison WI, U.S.A

Abstract
This paper presents a technique to estimate phase currents and rotor position in a vector-controlled PMSM drive using only dc-link current measurement based on Luenberger style observers.
idc SA_UP SB_UP SC_UP

DC link measurement Limitation

010 V3 Sector 2 V2 110
T0/4 SA_UP SB_UP SC_UP SA_LOW SB_LOW SC_LOW ia ic ia ic Tpwm/2 T1/2 T2/2 T0/4 T0/4 T2/2 Tpwm/2 T1/2 T0/4

r1 cto Se

Se cto r

Vcom V0 V7 a

ia ib ic SA_LOW SB_LOW SC_LOW

V4 011

Proposed Algorithm
s* vdq

Sector 5 V5 001 101 V6

+ 1 ^s L ^s idq

Se cto r

V1 100

r cto Se 4

idc

iabc abc

s idq + Ro +

Kio s

-Esal

s
dq

ton

tset

tA2D

Sector boundary region V3

V2

le rab asu n Me regio

ab
DC link Current Mapping

+ -

V0
^

V4 V7

V1

PMSM Luenberger style observer

tcom

t (sec)

V5 V6 Low Modulation region

Full system and Hardware results

Drive Controller

* id = 0 Ki

Physical motor/inverter setup id + j iq

* *

w*

rm +

Esal

^ wrm-2

Kp + s -

T* e

+ ^ idq -

Kt-1

Kio-1 Ko-1 + s

s vdq

dq

s vdq

Td
Kt

+ 1 Js

wrm
1

1 Ls

ab

SVM

Inverter

Te
+ -

qrm

Test setup Parameter

Parameter DC bus Voltage Phase resistance D,Q axis InductanceFlux Linkage Pole pairs-P Motor inertia-J Motor viscous friction-b Base current Base voltage Base mechanical speed Base Torque Electrical loop freq. Mechanical loop freq. CRO loop freq. Elect. loop Eigen values freq. Mech. loop Eigen values freq. BEMF est. Eigen values freq. BEMF Tracking Observer Eigen values freq. Speed Filter Eigen values freq. Value 100 V 1.4489 Ohms 0.0049325 H 0.077393 V.s/rad 6 0.00924 kg/m2 0.005 N.m/s.rad 7A 57.735 V 85 rad/s 4 N.m 5000 Hz 500 Hz 5000 Hz 10 Hz,100 Hz 0.1 Hz,1 Hz 80 Hz,800 Hz 1Hz,10Hz,100Hz 0.1Hz,1Hz,10Hz

+
dq

iq*

ab
dq

qr
0.5 P

r
Ke

iabc idc

abc

s idq Ro + + -

Rio s

-Esal

s
dq

+ 1 ^s L ^

^s idq

ab

+ -

-1

Three phase Current Reconstruction/ Back-emf State Filter

Esal

s
dq

qrm-2

^ wrm-2
1 1 ^ Js +

T* e
+ + + Ko-2 +

T* e
Kio-2 s + Ko + s 1 ^ Js j( ^r + q Kio + + 1 ^ Js + +

^ wrm

qrm

Cascaded Position Observer

^ w
-

rm

qrm

bo-2

p
2

Back-emf Tracking Observer

qr

Performance Improvement

Conclusion
Better Dynamic Stiffness and lower harmonic motor current due to higher resolution estimated position. Overcome the sector boundary region limitation. No PWM modification needed. Simple algorithm which can be implemented by an industry standard DSP (F2812). Controllers orientation is simple and straightforward due the observer linearity. No hardware modification needed. 0.2 [PU] lower speed transient limit

Motor current - full sensors

Motor current - single sensor

IEEE-ICEMS2012-Fall Sapporo, Japan October 22, 2012