Sensorless Control of High-speed Permanent Magnet Synchronous Motor Based on Adaptive Synchronous-frequency Tracking Observer

doi:10.12382/bgxb.2024.0121

Abstract

Abstract:

At high rotational speed,the inherent chattering,low-pass filter (LPF) delay,and dead zone effect of the rotor position and speed estimation algorithm of the traditional sliding mode observer have become the main factors affecting the control accuracy of sensorless control system for high-speed permanent magnet synchronous motor.A sensorless speed estimation algorithm based on an adaptive synchronous-frequency tracking observer is proposed to improve the observational accuracy of rotor position.In this observer,the quasi-proportional-resonance control can be used to realize the adaptive tracking of stator current estimation error during frequency change,and a fundamental wave back electromotive force is obtained by the adaptive harmonic elimination,instead of the convergence function and LPF of the traditional SMO to eliminate the chattering and phase delay,which can realize the high-precision estimation of the rotor position and speed.In order to minimize the influence of the error voltage caused by the deadtime at high frequency on the angle estimation,an accurate voltage estimation model based on the reconstruction of deadtime voltage is adopted to further improve the dynamic performance and position estimation accuracy of the sensorless estimation algorithm in the low-speed domain.Simulated and experimental results demonstrate the superiority of the proposed method applied to the full-speed domain of high-speed permanent magnet synchronous motor for gas turbine.

Key words: high-speed permanent magnet synchronous motor, sensorless control, quasi-proportional-resonance control, adaptive synchronous-frequency tracking observer, deadtime effect

XU Guxuan, ZHAO Feng. Sensorless Control of High-speed Permanent Magnet Synchronous Motor Based on Adaptive Synchronous-frequency Tracking Observer[J]. Acta Armamentarii, 2025, 46(2): 240121-.

Figures/Tables 30

Fig.1 Block diagram of the traditional SMO sensorless estimation algorithm

Fig.2 Bode diagram of different LPF cut-off frequencies

Fig.3 Estimated back EMF waveform of conventional SMO algorithm and its FFT analysis results

Fig.4 Simulation of error analysis based on traditional rotor position observer

Fig.5 uα voltage and uα_r voltage under deadtime effect

Fig.6 Block diagram of sensorless control for HSPMSM

Fig.7 Block diagram of ASFTO function

Fig.8 Bode diagrams of ideal PR controller and QPR controller

Fig.9 Internal structure of QPR-based adaptive synchronous frequency tracking observer

Fig.10 Bode diagram of open-loop transfer function with different variable parameters

Fig.11 Phase diagram of closed-loop transfer function with different KR parameters at different speeds

Fig.12 Accurate voltage model based on deadtime correction

Table 1 Parameters of high-speed SPMSM and control system

参数	数值	参数	数值
d轴电感/H	0.000134	极对数p	1
q轴电感/H	0.000134	额定转速/(r·min^-1)	100000
定子相电阻/Ω	0.02	额定电流/Arms	65
永磁体磁链/Wb	0.021	母线电压/V	500
额定功率/kW	35	转动惯量/(kg·m²)	0.00015

Fig.13 Simulated results of the estimated back EMF at 60000r/min

Fig.14 Estimated angles of different sensorless estimation algorithms and their error simulation results

Fig.15 Simulated results of speed estimation with different sensorless estimation algorithms

Table 2 Simulation comparison of different positionless algorithms at 60 000 r/min

方法	总谐波含量/%	角度误差/(°)	转速误差/%
传统SMO	12.13	0~20	±5
ASFTO法	1.24	0~1	±0.2

Fig.16 High-speed PMSM experimental platform based on SiC

Fig.17 Comparison of back EMF estimations of different algorithms(100000r/min)

Fig.18 FFT analysis of back EMF of different algorithms(100000r/min)

Fig.19 Comparison of speed tracking errors of different algorithms

Fig.20 Variation of motor steady state phase current with speed when using different algorithms

Fig.21 Phase current waveforms during startup acceleration from 0 to 60000r/min when using different algorithms

Fig.22 Phase current waveforms during startup acceleration from 0 to 90000r/min when using different algorithms

Table 3 Comparison of startup acceleration times of different sensorless algorithms

实验工况/ (r·min^-1)	传统SMO/s	传统SMO 补偿后/s	ASFTO/s
0~60000	1.02	0.80	0.70
0~90000	1.70	1.28	0.96

Fig.23 Low-speed domain d-q-axis current tracking curve before voltage correction

Fig.24 Low-speed domain d-q-axis current tracking curve after voltage correction

Fig.25 Phase current waveforms during 0-30000r/min startup before voltage correction

Fig.26 Phase current waveforms during 0-30000r/min startup after voltage correction

Table 4 Comparison of startup acceleration times of different sensorless algorithms

跟踪误差及启动时间	死区电压校正前	死区电压校正后
d轴跟踪误差/A	-13~13	-5~5
q轴跟踪误差/A	-5~15	-3~8
0~30000r/min启动时间/s	0.60	0.52

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