无感FOC控制：基于非线性观测器的SPMSM实验验证

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本文档标题为"2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf"，其核心研究内容集中在"磁链观测器在无感FOC（Field-Oriented Control）中的应用"。磁链观测器是一种在电机控制领域中的关键技术，特别针对表面安装永磁同步电机（SPMSM，Surface-Mount Permanent Magnet Synchronous Motor）的控制策略。传统的速度观测器，如Luenberger型，通常依赖于电机速度信息，这可能会引入误差，尤其是在速度估计不精确时。然而，Ortega等人提出了一种非线性观测器，它通过估计sinθ和cosθ来推算电机角度，从而避免了对速度信息的依赖，简化了控制系统的复杂性。非线性观测器的优势在于其对速度估计的需求被消除，使得系统对速度测量误差更为鲁棒。此外，它的设计和实现相对简单，这对于实际工业应用来说是一个重要的优点。研究者们通过实验验证了这种观测器的有效性，即使在带有负载的情况下，当电机转速超过10转/分钟时，观察到的结果仍然保持良好。为了进一步提升性能，论文还探讨了如何结合一个比例积分（Proportional-Integral，简称PI）跟踪控制器速度估计器，利用电机位置信息来获取准确的速度估计。这种方法的集成使得整个控制体系更加完善，能够在不同工作条件下稳定运行，适用于各种电机驱动应用。这篇论文主要贡献在于提出了一种适用于SPMSM的新型非线性磁链观测器，并通过实验展示了其在无感FOC控制中的优越性能，为电机驱动系统的简化设计和提高控制精度提供了新的思路。这对于电机驱动系统的工程师和研究人员来说，是一项具有实际意义的技术突破。

290 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO. 2, FEBRUARY 2010

Sensorless Control of Surface-Mount

Permanent-Magnet Synchronous Motors

Based on a Nonlinear Observer

Junggi Lee, Student Member, IEEE, Jinseok Hong, Student Member, IEEE, Kwanghee Nam, Member, IEEE,

Romeo Ortega, Fellow, IEEE, Laurent Praly, and Alessandro Astolﬁ, Fellow, IEEE

Abstract—A nonlinear observer for surface-mount permanent-

magnet synchronous motors (SPMSMs) was recently proposed by

Ortega et al. (LSS, Gif-sur-Yvette Cedex, France, LSS Internal

Rep., Jan. 2009). The nonlinear observer generates the position

estimate

θ via the estimates of sin θ and cos θ. In contrast to

Luenberger-type observers, it does not require speed information,

thus eliminating the complexity associated with speed estimation

errors. Further, it is simple to implement. In this study, the non-

linear observer performance is veriﬁed experimentally. To obtain

speed estimates from the position information, a proportional-

integral (PI) tracking controller speed estimator was utilized. The

results are good with and without loads, above 10 r/min.

Index Terms—Motor drives, nonlinear estimation, observers,

permanent magnet machines, permanent magnet motors.

I. INTRODUCTION

OSITION information is required for ﬁeld orientation con-

trol of permanent-magnet synchronous motors (PMSMs).

In some applications, installing position sensors is troublesome.

For instance, in some vacuum pumps, it is not possible to extend

the motor shaft out of the motor housing due to sealing prob-

lems. In crane and elevator applications, the distance between

the motor and inverter is so large that sensor signal attenuation

and noise interference are high. In some household equipments

such as refrigerators and air conditioners cost constraints stymie

the use of speed sensors. The aforementioned problems moti-

vated the development of sensorless algorithms for PMSMs, for

which numerous works have been published.

Manuscript received January 20, 2009; revised March 30, 2009 and May 15,

2009. Current version published February 12, 2010. Recommended for publi-

cation by Associate Editor J. O. Ojo.

J. Lee, J. Hong, and K. Nam are with the Department of Electrical En-

gineering, Pohang University of Science and Technology (POSTECH) Uni-

versity, Pohang 790-784, Republic of Korea (e-mail: baabu@postech.ac.kr;

jinsuk00@postech.ac.kr; kwnam@postech.ac.kr).

R. Ortega is with the Laboratoire des Signaux et Syst

emes, Supelec, 91192

Gif-sur-Yvette Cedex, France (e-mail: ortega@lss.supelec.fr).

L. Praly is with the Centre Automatique et Syst

emes, Ecole de Mines des de

Paris, 77305 Fontainebleau, France (e-mail: praly@ensmp.fr).

A. Astolﬁ is with the Department of Electrical and Electronic Engineering,

Imperial College London, London SW7 2AZ, U.K., and also with the Diparti-

mento di Informatica, Sistemi e Produzione (DISP), University of Rome “Tor

Vergata,” 00133 Rome, Italy (e-mail: a.astolﬁ@ic.ac.uk).

Color versions of one or more of the ﬁgures in this paper are available online

at http://ieeexplore.ieee.org.

Digital Object Identiﬁer 10.1109/TPEL.2009.2025276

Sensorless techniques for PMSMs are broadly classiﬁed into

three types: motion electromotive force (EMF), inductance, and

ﬂux linkage [2]. Matsui [3] pioneered the area of sensorless con-

trols for PMSMs with position- and speed-update algorithms

based on current errors, which originated from coordinate mis-

alignments. Ogasawara and Akagi [14] derived angle estimates

by utilizing the dependence of inductance on the rotor posi-

tion when the rotor has saliency. Tomita et al. [4] introduced a

disturbance observer for an EMF-based estimator. Corley and

Lorenz [5] proposed a sensorless control that operated at zero

speed with a high-frequency current injection and a heterodyne

ﬁltering technique. Aihara et al. [6] combined a signal injection

technique with a back EMF-based position estimation method.

Nahid-Mobarakeh et al. [8] studied the inﬂuence of measure-

ment errors and inverter irregularities on the performance of

the sensorless control. Xu and Rahman [10], Liu et al. [12],

and Chen et al. [7] used adaptive sliding-mode observers, and

Bolognani et al. [11] applied the extended Kalman ﬁlter and

proposed guidelines for choosing noise covariance matrices.

Bianchi et al. [24] compared two signal injection methods for

zero-speed rotor position detection.

It is widely recognized that back-EMF-based methods per-

form well for middle- and high-speed applications. However, the

major drawback is that they behave poorly at standstill and in the

low-speed region. Further, they are sensitive to inherent motor

torque ripple and noises. However, with high-frequency signal

injection methods, full-torque zero-speed operation is feasible.

Solsona et al. [20] used a nonlinear observer along with non-

linear coordinate transformation for surface-mount permanent-

magnet synchronous motor (SPMSM) and load dynamics. How-

ever, their state contains speed variable and the transformed

equations are complex. Jansson et al. [21] utilized d-axis cur-

rent in proportion to q-axis current to reduce the effect of stator

resistance variation, and showed stable performances in starting

and speed reversal.

Recently, Ortega et al. [17] established some theoretical prop-

erties of a nonlinear observer for SPMSM. Instrumental to our

development was the use of a new state variable representation

of the motor dynamics [18]. The proposed observer used the

ﬂux linkage as the new state variable and the speed dependence

was eliminated. The main interest of the observer of [17] is

its simplicity, which makes it a suitable candidate for practical

implementation. In this paper, a sensorless controller with the

nonlinear observer is constructed, and its practical usefulness is

demonstrated.

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