Interior permanent magnet synchronous motor (IPMSM) with back electromotive-force (EMF) based sensorless field-oriented control (FOC) is widely used in medium-high speed applications. Unfortunately, the back EMF is too small to be estimated accurately during low speed operation. Hence, the current-frequency ( I–f ) control with controllable current vector is used for startup. However, the conventional I–f control is hard to realize the tradeoff between startup speed and load capacity, suffering high-acceleration and high-load startup failure. In this article, a current vector angle controller for sensorless IPMSM startup is proposed to adjust speed-up-stage current acceleration and constant-speed-stage current amplitude with load automatically. The proposed angle controller guarantees the current vector angle close to the maximum torque per ampere angle, which contributes to large startup torque, high operating efficiency and smooth transition from I–f startup to sensorless FOC. Furthermore, the robustness against parameters variation of angle controller is evaluated quantitatively. These theoretical advantages are verified in experiments with a 380 V, 1.5 kW IPMSM. In particular, the experimental results demonstrate that the proposed I–f control realizes full-load startup even with ${\rm{ \pm }}$ 50% flux linkage and ${\rm{ \pm }}$ 30% inductance variation. Furthermore, the startup acceleration auto-adjusts with load to reconcile startup speed and load capacity.

中文翻译：

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基于电流矢量角控制器的大启动转矩无传感器IPMSM的高效鲁棒控制

具有基于反电动势 (EMF) 的无传感器磁场定向控制 (FOC) 的内部永磁同步电机 (IPMSM) 广泛用于中高速应用。不幸的是，反电动势太小而无法在低速运行期间准确估计。因此，电流频率（ I-f ) 具有可控电流矢量的控制用于启动。然而，传统的I-f控制难以实现启动速度和负载能力之间的权衡，遭受高加速度和高负载启动失败。本文提出了一种用于无传感器IPMSM启动的电流矢量角控制器，用于自动调整加速阶段电流加速度和恒速阶段电流幅值带负载。所提出的角度控制器保证电流矢量角接近每安角的最大扭矩，这有助于大启动扭矩、高运行效率和从I–f 启动到无传感器 FOC。此外，定量评估了角度控制器对参数变化的鲁棒性。这些理论优势在 380 V、1.5 kW IPMSM 的实验中得到验证。特别是，实验结果表明，所提出的I-f控制实现满载启动，即使有${\rm{ \pm }}$ 50% 磁链和${\rm{ \pm }}$ 30% 的电感变化。此外，启动加速度随负载自动调整，以协调启动速度和负载能力。