A Nonlinear State Observer for Sensorless Speed Control of IPMSM
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A Nonlinear State Observer for Sensorless Speed Control of IPMSM Nga Thi‑Thuy Vu1 Received: 27 February 2019 / Revised: 2 April 2020 / Accepted: 4 June 2020 © Brazilian Society for Automatics--SBA 2020
Abstract This paper presents a nonlinear state observer model for sensorless speed control of an interior permanent magnet synchronous motor (IPMSM) drive. First, an augmented state space model of the IPMSM and the system uncertainty dynamics is obtained in the d − q synchronously rotating reference frame. Then, the proposed nonlinear state estimator based on an extended Luenberger observer is constructed by using rotor position, rotor speed, q-axis stator current, and system uncertainty vector as the state variables. Hence, the estimated system parameter uncertainties can be used to dramatically improve the performance of the speed controller without any additional observer. The stability of the proposed observer at low and high speed is asymptotically guaranteed by Lyapunov stability analysis. In addition, the proposed model is simple to carry out, so it does not require a complex calculation. Simulation results obtained via a Matlab/Simulink software indicate that the proposed observer model can assure an excellent state estimation over a wide speed range even when the rotor speed or load torque changes abruptly as well as the difference in the initial values of real and estimated rotor position. Keywords Interior permanent magnet synchronous motor (IPMSM) · Nonlinear state observer · Rotor position and speed estimation · Sensorless control · System uncertainties · Vector control
1 Introduction Lately, the permanent magnet synchronous motors (PMSMs) have been widely used in high-performance adjustable-speed drives such as electric vehicles (EV), industrial robots, and medical equipment since they feature wide speed range operation capability, high torque to current ratio, low noise, robustness, and high efficiency (Hernández-Guzmán and Orrante-Sakanassi 2018; Ali and Gulez 2015). In a fieldoriented control (FOC) or vector control approach that independently controls the torque and flux, the information of the rotor position and rotor speed is continuously required. Consequently, high-resolution position sensors such as an encoder and a resolver are generally used to detect the rotor position in real time. However, these rotor position sensors lead to reduced reliability, increased cost and weight, and susceptibility to noise. To overcome these problems, the sensorless control approach which can eliminate the shaft
* Nga Thi‑Thuy Vu [email protected] 1
School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam
position sensors and work effectively in a wide speed range, i.e., from standstill to high speed, is an attractive solution. Some sensorless control methods of the IPMSM can operate very well at middle and high speed ranges. The flux observer method (Tang et al. 2003; Foo and Rahman 2010a; Andreescu et al. 2008) estimates the rotor position using the relatio
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