Sensorless Control of PMSM

1
Sensorless Control of PMSM for

Electric Vehicle Application
Author
Mohamed Hassan Abou El Ella
Supervisors:
Prof. Dr. Osama Mahgoub
Prof. Dr. Abdelatif El Shafei
Ass. Prof. Dr. Sherif Zaid
Cairo University, Egypt
6/3/2014
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Contents
Introduction
Sensorless Control Techniques
PMSM Mathematical Modeling
Control basics of PMSM
Field Weakening Control of PMSM
Introduction to MRAS based estimators
MRAS speed Estimator for PMSM
ANFIS based MRAS speed estimator for PMSM
Conclusion
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Introduction
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Introduction
Permanent Magnet Motors have received great
attention in research in recent time due to:
High Power Density
High Efficiency
Maintenance free operation.
High reliability
High torque to inertia ratio
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Introduction Cont
Permanent Magnet Motor Types
PMAC motor
Named as permanent
magnet Synchronous
motor PMSM.
Sinusoidal back EMF.
Sinusoidal stator
current.
PMDC motor
Named as brushless DC
motor BLDC.
Trapezoidal back EMF.
Square wave stator
currents.
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Introduction Cont
PMSM Types
Surface Mounted
Magnets are mounted on
the rotor Surface.
D, Q axis inductances are
equal.
Zero reluctance torque
Interior Magnet
Magnets are buried inside
the rotor
D, Q axis inductances are
not equal.
Reluctance torque exists
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Introduction Cont
PMSM Control Techniques
Open Loop Control
Direct Torque Control
Vector Control
Sensorless Control
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PMSM Mathematical
Modeling
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PMSM Mathematical Modeling

Voltage Equations:
Where;
Cross section in the PMSM
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PMSM Mathematical Modeling Cont

Voltage Equations in the frame
Voltage
Equation
Back
EMF
Current
Model
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PMSM Mathematical Modeling Cont

Voltage Equations in the DQ frame
Voltage
Equation
Current
Model
12
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Control Basic of PMSM
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Control Basics of PMSM

Control Techniques
A. Open Loop Control:
Maximum torque is achieved by maintaining V/f ratio
constant.
Valid for high speed values near to the base speed
where the stator resistance voltage may be neglected.
The speed command should be from reference speed
curve to avoid losing of synchronization.
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Control Techniques
B. Direct Torque Control:
The basic idea is to control the torque and flux linkage
by selecting the voltage space vectors properly using a
pre-defined switching table.
The selection of the voltage vector is based on hysteresis
controller for both the stator flux linkage and Torque.
Torque is controlled by changing angle between stator
and rotor flux when stator flux is kept constant.
IPM
SPM
June 3, 2014
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Control Techniques
Block Diagram For the conventional DTC.
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Control Techniques
The Voltage vector is always maintained within a defined
hysteresis band according to values of and .
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Control Techniques
C. Current Vector Control (FOC):

The basic idea is to control the torque and flux linkage
independently by comparison of the motor currents and
reference values in the rotor reference frame.
Reference values of the currents are obtained from
Torque or Speed command.
Hysteresis or space vector based switching may be
applied.
Torque is controlled by changing Iq while keeping Id
constant.
IPM
SPM
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Control Techniques
C. Current Vector Control:
Feed back required data:
Stator Current is measured and transformed to the rotating
DQ reference frame using Parks transformation.
Decoupling between Id and Iq for independent control for
torque and flux is achieved by Feed Forward compensation.
Rotor position is obtained by the aid of hall effect sensors,
resolvers and optical shaft encoders.
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Control Techniques
C. Current Vector Control:
Vector Control Block Diagram:
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Control Techniques
D- Sensorless Control:
Position data is always required in PMSM vector

control.
Position Sensors used may be:
Resolvers
Hall Effect Sensors.
Shaft Encoders
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Control Techniques
D- Sensorless Control:
Elimination of Sensors is recommended for the
following:
Reduction of the overall drive cost
Increasing the system reliability
Reduction of system complexity.
All the previous mentioned reasons caused great

motivation for research in the Sensorless control
of PMSM
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Sensorless Control of PMSM Cont

Techniques Used in Sensorless Control:
1. Back EMF Estimation
Has great performance at high speed
Suffers at low speed and standstill due to low back
EMF values.
Affected by the value of stator resistance.
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2. Saliency based methods
Depends on inductance variation due to
saliency.
Shows great performance at low speed range and
standstill.
Causes torque ripples at high speed ranges
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3. Extended Kalman Filters
Suffers from parameter sensitivity, complex
computations
Requires initial conditions.
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4. Sliding Mode Observers
Great immunity against parameter variation.
Suffers from chattering problems
Requires great computational power.
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5. Model Reference Adaptive System (MRAS).
Great dynamic performance
High immunity against parameter variations.
We Will discuss the MRAS based Sensorless Control

in this literature
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Regions Of Operation
Below base speed the operation is in the Constant torque
With the voltage and power increasing as the speed increases.

T
Constant
Torque
MTPA
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Above the rated Speed Voltage is limited to its maximum
value and the operation is in the constant Power speed range

with flux weakening.
T
n
nb
Constant
Torque
MTPA
Constant
Power
FW
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Phasor
Diagram
Below
Rated
Speed
Phasor
Diagram
Above
Rated
Speed
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Voltage constraint
All PMSM operation should be within the specified
and current limits.
The voltage constraint:
From the voltage equations of the motors.
voltage
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Voltage constraint
Referring the voltage constraint equation to the id and iq

axis
Ellipse Equation
Centre at (-m/Ld,0)
Iq
Id
-m/Ld
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Voltage constraint
For Surface Mounted Motors. Ld=Lq=Ls

Voltage constraint will be equation of a circle.
Iq
Id
-m/Ls
33

Current constraint
The current constraint:
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Equation of a circle
with radius Ismax
Iq
Voltage
Constraint
Ismax
Id
Current
Constraint
34

Voltage and Current constraint
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PMSM are divided into two main types from the

constraints point of View
Type I:
Voltage limit circles
10
Voltage Limit Circle
w1
w2
6
w3
current
Limit
Circle
4
w4
iq(A)
Extending Speed is
Limited by Current
Constraint
0
-2
-4
-6
-8
-10
-16
-14
-12
-10
-8
-6
id (A)
-4
-2
35

Voltage and Current constraint
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PMSM are divided into two main types from the

constraints point of View
Type II:
Voltage / Current limit circles
10
Voltage Limit Circle
w1
8
w2
6
w3
w4
current
Limit
Circle
iq(A)
Speed Can be increased

to infinity
w5
0
-2
-4
-6
-8
-10
-16
-14
-12
-10
-8
-6
id (A)
-4
-2
36

Control Regions
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1. Maximum Torque Per Ampere (MTPA) Current Control:

Applied when speed <b.
The relation between Id and Iq in MTPA
IPM
SM
37

Control Regions
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1. Maximum Torque Per Ampere (MTPA) Current Control:

Voltage / current limit circles
10
W1
voltage limit
circle
8
6
4
current
limit
circle
MTPA trajectory
iq(A)
2
0
-2
-4
-6
-8
-10
-16
-14
-12
-10
-8
-6
id (A)
-4
-2
38

Control Regions
2. Flux Weakening Control:
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Applied at speed > b.

Flux weakening can be achieved by applying negative armature
reaction by (Id ve).
Voltage is limited to its rated value.
Current vector should be maintained within its limit
Relation between Id and Iq during FW control
39

Control Regions
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For Type I motor
10
W1
voltage limit
circle
W2
6
W3
4
MTPA trajectory
FW trajectory
W4
iq(A)
2
0
current
limit
circle
-2
-4
-6
-8
-10
-16
-14
-12
-10
-8
-6
id (A)
-4
-2
40

Control Regions
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For Type II motor
5
FW
4
3
voltage limit
circle
LVMT
W1
B
MTPA
W2
2
Current
limit
Circle
W3
iq(A)
W4
0
C
-1
-2
-3
-4
-5
-5
-4
-3
-2
-1
id (A)
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Control Regions
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Region 1: MTPA will be applied where
Region 2: FW will be applied where
Region 3 (For type2 motors only): , LVMT will be applied where
Motor Used in this Thesis a Type

Motor
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Field Weakening Control

Of PMSM
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The main aim in FW control is selection of a proper Id

value that meets the motor constraints
Id reference Value is calculated from the torque demand
of the speed loop.
r*
+-
PI
Iq*
Id*
+FW
Vq*
+-
PI
PI
V
d-q
Vd*
-
Iq
Id
Space
Vector
PWM
Vabc
d-q
abc Iabc
Position / Speed sensor
PMSM
Motor
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Reference Id is affected by the transient response in
torque demand and the motor speed.

The proposed trajectory depends on setting a
predefined value depending on the desired speed
The optimum current trajectory at a certain speed is
calculated from the voltage and current constraints
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The Graph representing this trajectory
5
Voltage Limit
4
B
3
Te 3
2
Te 2
iq(A)
1
Te 1
0
A
-1
-2
Current Limit
-3
-4
-5
-5
-4
-3
-2
-1
id (A)
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The Offline Reference values of Id is
Id reference values
2
id
1
id (A)
1100 RPM
-1
1200 RPM
-2
1300 RPM
1400 RPM
-3
1500 RPM
1600 RPM
-4
1700 RPM
-5
-1
1800 RPM
0
iq(A)
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A look up table will be used containing the reference Id
value according to each speed demand.

The reference value represents the average of each curve
The trajectory is described by the following figure
5
Voltage Limit
4
B'
Te 3
2
Te 2
iq(A)
1
Te 1
A'
A
-1
-2
Current Limit
-3
-4
-5
-5
-4
-3
-2
-1
id (A)
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A smooth transition will take place after transient
response to the optimum value of the current.

The transition will only take place if :
Id(Optimum) < Id (LUT)
This is done to increase the efficiency of the motor.
For the case of:
Id(optimum) > Id (LUT)
No transition will take place which will only require a
small increase in the DC bus voltage
The proposed trajectory will result in greater efficiency
of operation and better dynamic response
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Graphical Representation of Proposed Trajectory

Voltage
Limit
B'
C'
iq(A)
C
0
Te
A'
-1
-2
Current Limit
-3
-3.5
-3
-2.5
-2
-1.5
id (A)
-1
-0.5
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Graphical Representation of Proposed Trajectory

Voltage
Limit
B'
1500 RPM
1200 RPM
C'
iq(A)
C
0
Te
A'
-1
-2
Current Limit
-3
-3.5
-3
-2.5
-2
-1.5
id (A)
-1
-0.5
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No
No
* < base
Vs < Vsm
Yes
Yes
Id*(LUT)
No
|| *- || <
error
Yes
Get Id** (iq*)
No
Id** (iq*) < Id*(LUT)
Yes
MTPA
FW id**(iq*)
52

Simulation Results
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Case I : Speed Demand of 1200 , 1500 , 1800 RPM Tl = 0.5 NM

Actual Vs Desired Id
2
id
id*
id Vs. id* (A)
-1
-2
-3
-4
-5
0
10
time (Sec)
15
53

Simulation Results
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Id and Iq
Ia and Ib
id
iq
ia
4
stator Currents (A)
Id / Iq (A)
1
0
-1
-2
1
0
-1
-2
-3
-3
-4
-4
-5
-5
10
time (Sec)
15
10
time (Sec)
15
54

Simulation Results
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Magnitude of Voltage vector
Magnitude of current vector
100
Vs
IS
90
80
70
60
Vs (V)
IS (A)
1
0
50
40
-1
30
-2
20
-3
10
-4
0
-5
10
time (Sec)
15
10
time (Sec)
15
55

Simulation Results
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Case II : Speed Demand of 1200 , 1500 , 1800 RPM Tl = 2 NM

Actual Vs Desired Speed
2500
Sp
Fb
id
id*
id Vs. id* (A)
nsp vs. nfb (RPM)
2000
1500
1000
-1
-2
-3
500
-4
10
time (Sec)
15
-5
0
10
time (Sec)
15
56

Simulation Results
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Id and Iq
Ia and Ib
id
iq
ia
4
stator Currents (A)
Id / Iq (A)
1
0
-1
-2
1
0
-1
-2
-3
-3
-4
-4
-5
-5
10
time (Sec)
15
10
time (Sec)
15
57

Simulation Results
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Magnitude of current vector
Magnitude of Voltage vector
100
Vs
90
80
70
60
Vs (V)
IS (A)
IS
4
50
40
-1
30
-2
20
-3
10
-4
0
-5
10
time (Sec)
15
10
time (Sec)
15
58

Simulation Results
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Case III : Speed Demand of 1200 , 1500 , 1800 RPM Tl = 0.5 NM and 2 NM
Comparing two techniques
2500
2000
2000
nsp vs. nfb (RPM)
nsp vs. nfb (RPM)

2500
1500
1000
1500
1000
500
500
Sp
Fb
10
time (Sec)
15
10
time (Sec)
15
59

Experimental Results
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Case I : Speed Demand of 500, 800, 1200 , 1500 RPM Tl = 2 NM


2
2500
Sp
Fb
id
id*
2000
id Vs. id* (A)
nsp vs. nfb (RPM)
1500
1000
-1
-2
-3
500
-4
-5
0
time (Sec)
10
12
14
16
time (Sec)
10
12
14
16
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-0.4
id
id*
-0.6
id
id*
-2
-0.8
-2.2
id Vs. id* (A)
id Vs. id* (A)
-1
-1.2
-1.4
-1.6
-2.4
-2.6
-2.8
-1.8
-3
-2
-3.2
-2.2
-2.4
-3.4
7.5
8.5
time (Sec)
9.5
11.5
12
12.5
time (Sec)
13
13.5
61

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Actual vs. Desired Iq
Current Vector Is
10
iq
iq*
Is
9
Is (A)
Iq* vs. Iq (A)
-1
-2
-3
-4
-5
time (Sec)
10
12
14
16
time (sec)
10
12
14
16
62

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Case I : Comparing Two Techniques

Sp
FW with transition
FW without Transition
1800
1600
1400
nsp vs. nfb (RPM)
1200
1000
800
600
400
200
-200
8
10
11
12
time (Sec)
13
14
15
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MRAS
Based Estimators
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MRAS based Estimators

MRAS is based on the comparison of two
models:
The reference Model
Adjustable Model
Each Model Has its input
In 1
In 2
Reference Model
Adjustable Model
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MRAS based Estimators

The error between the two model is processed to
a certain adaptation mechanism
The output of the adaptation mechanism is used
to tune the adjustable model.
In 1
In 2
Reference Model
Adjustable Model
Adaptation
Mechanism
error
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MRAS based Estimators Cont

The adaptation mechanism results in minimizing
the error between both models
At minimum error both models will be the same
In 1
Reference Model
=
In 2
Adaptation
Mechanism
Adjustable Model
error
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MRAS based on
Popov Theory
Speed Estimators
68
MRAS based Speed Estimator

BlockV Diagram
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Vq
Reference Mode
(PMSM Motor)
Id
Adjustable Model
(Current Model)
+
+
-
Adaption
Mechanism
ed
For Hybrid
Learning
69

Current Model
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Current
Model in
DQ Frame
where
70

Current Model
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Replacing Actual Values with the estimated values, the adjustable model used is
Adjustable Model
71

Adaptation Mechanism
The generalized error equation is
where
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72

Adaptation Mechanism
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According to Popov hyperstability Theory the following conditions should be

satisfied:
Positive Definite
From these two conditions the speed can be calculated from the following
Equation
Position
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Simulation Results
r*
PI
+-
Iq*
Id*
FW +-
Vq*
+-
PI
PI
Vd*
-
Iq
Id
Space
Vector
PWM
d-q
V
d-q Vabc
abc Iabc
- iq
Adjustable Vd
+
Model
Vq
- i
d
r
PMSM
Motor
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Simulation Results
Case I: speed demand (100-800) RPM, Tl=(1-2-0.5 )NM , Nominal Parameters

Desire, Actual, Estimated Speed (RPM)
speed error
1000
20
Sp
Fb
Estimate
900
800
error
15
600
error(RPM)
nsp vs. nfb (RPM)
10
700
500
400
5
0
-5
300
-10
200
-15
100
0
-20
0.5
1.5
2.5
time (Sec)
3.5
4.5
0.5
1.5
2.5
time (Sec)
3.5
4.5
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Simulation Results
Case I: speed demand (100-800) RPM, Tl=(1-2-0.5 )NM , Nominal Parameters

Actual vs. Estimated position
Id and Iq
Act
Est
2
5
Id / Iq (A)
Thetam (Rad)
id
iq
4
3
1
0
-1
-2
-3
1
-4
0
0.5
1.5
2.5
Time (Sec)
3.5
4.5
-5
0.5
1.5
2.5
time (Sec)
3.5
4.5
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Simulation Results
Case II: speed demand (300-800-1200-1500-1800) RPM, Tl=(2 )NM , Nominal

Parameters
Desired, Actual, Estimated Speed (RPM)
speed error
2000
Sp
Fb
Estimate
1800
1600
error
15
10
1400
1200
error(RPM)
nsp vs. nfb (RPM)
20
1000
800
5
0
-5
600
-10
400
-15
200
0
time (Sec)
10
-20
time (Sec)
10
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Simulation Results
Case II: speed demand (300-800-1200-1500-1800) RPM, Tl=(2 )NM , Nominal

Parameters
8
Act
Est
Thetam (Rad)
6
5
4
3
2
1
0
Time (Sec)
10
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Simulation Results
Case III: speed demand (300-800-1200) RPM, Tl=(2 )NM , 30% increase inductance
Desired, Actual, Estimated Speed (RPM)
speed error
2000
20
Sp
Fb
Estimate
1800
1600
error
15
1200
error(RPM)
nsp vs. nfb (RPM)
10
1400
1000
800
5
0
-5
600
-10
400
-15
200
0
time (Sec)
-20
time (Sec)
79

Simulation Results
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Case III: speed demand (300-800-1200) RPM, Tl=(2 )NM , 30% increase inductance

8
Act
Est
Thetam (Rad)
6
5
4
3
2
1
0
Time (Sec)
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Case I: speed demand (500-1200-1500) RPM, Tl=(2 )NM, Nominal parameters

Actual Vs. Estimated Speed
Speed Error
2000
200
Act speed
Estimated Speed
1800
Speed Error
150
1600
100
Speed Error (RPM)
Speed (RPM)
1400
1200
1000
800
600
50
0
-50
400
-100
200
-150
time (Sec)
10
11
12
-200
time (Sec)
10
11
12
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ANFIS based MRAS

Speed Estimators
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ANFIS based MRAS Speed Estimator

Vd
Vq
Reference Mode
(PMSM Motor)
Adjustable Model
(Current Model)
ANFIS
Adaption
Mechanism
For Hybrid
Learning
+
-
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ANFIS Architecture
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ANFIS Introduction
ANFIS is Adaptive Neuro Fuzzy Inference System
Advantages:
Combines advantages of both
1. Artificial Neural Network (ANN)
Learning ability
2. Fuzzy Logic Controllers
Linguistic representation
Can handle the non linearities of a system such as
the PMSM
Have high convergence rate due to hybrid learning
algorithm
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ANFIS Architecture
ANFIS consists of 5 network layer with two
inputs DQ currents and one Output, electrical
angular speed.
Layer 1 (Fuzzification layer):
Each node is an adaptive node.
Node is square represented.
Three membership functions are assigned to
each input.
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ANFIS Architecture Cont

The mathematical formula for each node is
Member Ship
Functions
87
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Parameters of this layer are called Premise
parameters .
Premise parameters will be tuned through back
propagation technique
88
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Layer 1
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Layer 2 ( Multiplication layer):
Multiplies the incoming signals.
Each node is circle represented symbolized with
.
Mathematical formula
90
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Layer 1
Layer 2
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Layer 3 ( Normalization layer):
Calculates the normalized firing strength of each
rule
92
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Layer
1
Layer
2
Layer
3
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Layer 4
Consists of adaptive nodes
Multiplies the normalized firing strength with
the Input
Parameters are known as consequent
parameters.
Consequent parameters will be tuned by
Recursive Least Square Estimate(RLS)
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Layer
1
Layer
2
Layer
3
Layer
4
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Layer 5 ( output layer)
Calculates the overall output of the system.
The output r is used to tune the adjustable
model.
The mathematical formula is
96
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Layer
1
Layer
2
Layer
3
Layer
4
Layer
5
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ANFIS Training
Algorithm
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ANFIS Training Algorithm

Hybrid Learning Algorithm
Premise
Parameter
Consequent
Parameter
Back
Propagation
RLS
99
6/3/2014
ANFIS Training Algorithm Cont

Back Propagation Method
The error used will be the quadrature current
error
The updating formula will be
100
6/3/2014
ANFIS Training Algorithm Cont

RLS Method
The updating formula will be
101
6/3/2014
Simulation Results
102
6/3/2014
Simulation Results
Simulation is carried out by Matlab/Simulink
A simple FOC is used to control the speed of the
PMSM
The drive system used will be
103
6/3/2014
Simulation Results Cont

Case 1: Speed variation at No Load and nominal
parameters
2000
Estimated vs. Actual speed (RPM)
Act
Est
1500
1000
500
-500
0.5
1.5
2.5
3.5
4.5
104
6/3/2014

Case 1: Speed variation at No Load at nominal
parameters
1000
Act
Est
speed error
800
Speed Error (RPM)
Estimated vs. Actual position Rad
600
400
200
2
0
0
0
-200
0.5
1.5
2.5
time (Sec)
3.5
4.5
0.5
1.5
2.5
time (Sec)
3.5
4.5
105
6/3/2014

Case 2: Speed variation at with load and nominal
parameters
1800
Act
Est
1600
1400
1200
1000
800
600
400
200
0
-200
0.5
1.5
2.5
time (Sec)
3.5
4.5
106
6/3/2014

Case 2: Speed variation at with load and nominal
parameters
1000
Act
Est
speed error
800
Speed Error (RPM)
400
200
0
0
600
0.5
1.5
2.5
time (Sec)
3.5
4.5
-200
0.5
1.5
2.5
time (Sec)
3.5
4.5
107
6/3/2014

Case 3: Speed variation with 20% resistance
increase , with and without torque.
2000
Act
Est
1800
1600
1400
1200
1000
800
600
400
200
0
0.5
1.5
2.5
time (Sec)
3.5
4.5
108
6/3/2014

Case 4: Speed variation with 20% resistance and
inductance increase , with constant torque.
2000
Act
Est
1500
1000
500
-500
0.5
1.5
2.5
time (Sec)
3.5
4.5
109
6/3/2014

Case 4: Speed variation with 20% resistance and
inductance increase , with constant torque.
1000
Act
Est
speed error
800
Speed Error (RPM)
400
200
0
0
600
0.5
1.5
2.5
time (Sec)
3.5
4.5
-200
0.5
1.5
2.5
time (Sec)
3.5
4.5
110
6/3/2014
Thank You
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Sensorless Control of PMSM

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Sensorless Control of PMSM

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1

Sensorless Control of PMSM for

PMSM Mathematical Modeling

Cross section in the PMSM

PMSM Mathematical Modeling Cont

PMSM Mathematical Modeling Cont

Control Basic of PMSM

Control Basics of PMSM

Control Basics of PMSM

Control Basics of PMSM

Control Basics of PMSM

Control Basics of PMSM

C. Current Vector Control (FOC):

Control Basics of PMSM

Control Basics of PMSM

Control Basics of PMSM

Position data is always required in PMSM vector

Control Basics of PMSM

All the previous mentioned reasons caused great

Sensorless Control of PMSM Cont

Sensorless Control of PMSM Cont

Sensorless Control of PMSM Cont

Sensorless Control of PMSM Cont

Sensorless Control of PMSM Cont

We Will discuss the MRAS based Sensorless Control

Control Basics of PMSM

With the voltage and power increasing as the speed increases.

Control Basics of PMSM

value and the operation is in the constant Power speed range

Control Basics of PMSM

Control Basics of PMSM

The voltage constraint:

From the voltage equations of the motors.

Control Basics of PMSM

The voltage constraint:

Referring the voltage constraint equation to the id and iq

Control Basics of PMSM

For Surface Mounted Motors. Ld=Lq=Ls

Control Basics of PMSM

Control Basics of PMSM

PMSM are divided into two main types from the

Voltage Limit Circle

Control Basics of PMSM

PMSM are divided into two main types from the

Voltage Limit Circle

Speed Can be increased

Control Basics of PMSM

1. Maximum Torque Per Ampere (MTPA) Current Control:

Control Basics of PMSM

1. Maximum Torque Per Ampere (MTPA) Current Control:

Control Basics of PMSM

2. Flux Weakening Control:

Applied at speed > b.

Control Basics of PMSM

2. Flux Weakening Control:

Voltage / current limit circles

Control Basics of PMSM

2. Flux Weakening Control:

Voltage / current limit circles

Control Basics of PMSM

2. Flux Weakening Control:

Region 2: FW will be applied where

Region 3 (For type2 motors only): , LVMT will be applied where