Skip to main content

Advertisement

SpringerLink
Log in

Implementation of a novel and versatile initial rotor position estimation method on surface-mounted permanent magnet synchronous motor prototype at zero speed

  • Published:
Sādhanā Aims and scope Submit manuscript

Abstract

This paper presents a novel initial rotor position estimation method for a surface-mounted permanent magnet synchronous motor (SPMSM) using its inherent magnetic features. Here, the initial rotor position has been estimated utilising the variation in phase inductances arising out of the unavoidable but very small saliency occurring either out of magnetic saturation of the machine or the magnet shape. Detailed investigations have been carried out to enumerate the actual magnitude of the inductances of the SPMSM with distributed armature winding and the dynamic saturation status with armature current variation. Here, 3-phase balanced voltage of higher frequency (150 Hz) is applied to the motor terminals for a short period of time (for 300 ms) and the corresponding phase currents are indirectly used to determine the rotor position. Innovative signal processing steps have been used to distinguish small differences in the 3-phase currents caused by the small differences in the phase inductances. The position is determined from the relative values of different phase currents using a novel approach. This still leads to two diametrically opposite (electrical phase) solutions for the instantaneous rotor position. To eliminate this ambiguity, two alternative methods (for pole identification) have been proposed. Extensive co-simulations of finite-element method (FEM)-based electromagnetic simulation and system simulation (for logic implementation) have been conducted. The estimation methods have been validated experimentally on a laboratory-developed prototype SPMSM that was designed and fabricated by the authors. The experimental results are found to be in excellent agreement with the FEM-based simulation results. The complete initial position estimation method takes less than 1 s of real time, which is typically less than the pre-charging time of standard commercial inverters.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11
Figure 12
Figure 13
Figure 14
Figure 15
Figure 16
Figure 17
Figure 18
Figure 19
Figure 20
Figure 21
Figure 22
Figure 23
Figure 24
Figure 25
Figure 26
Figure 27
Figure 28

Similar content being viewed by others

References

  1. Chen Z, Tomita M, Doki S and Okuma S 2003 An extended electromotive force model for sensorless control of interior permanent-magnet synchronous motors. IEEE Trans. Ind. Electron. 50(2): 288–295

    Article  Google Scholar 

  2. Mobarakeh B, Tabar F and Sargos F 2007 Back EMF estimation-based sensorless control of PMSM: robustness with respect to measurement errors and inverter irregularities. IEEE Trans. Ind. Appl. 43(2): 485–494

    Article  Google Scholar 

  3. Antonello R, Ortombina L, Tinazzi F and Zigliotto M 2018 Enhanced low-speed operations for sensorless anisotropic PM synchronous motor drives by a modified back-EMF observer. IEEE Trans. Ind. Electron. 65(4): 3069–3076

    Article  Google Scholar 

  4. Chen S, Liu G and Zhu L 2019 Sensorless startup strategy for a 315-kW high-speed brushless DC motor with small inductance and nonideal back EMF. IEEE Trans. Ind. Electron. 66(3): 1703–1714

    Article  Google Scholar 

  5. Bierhoff M H 2017 A general PLL-type algorithm for speed sensorless control of electrical drives. IEEE Trans. Ind. Electron. 64(12): 9253–9260

    Article  Google Scholar 

  6. Genduso F, Miceli R, Rando C and Ricco Galluzzo G 2010 Back EMF sensorless-control algorithm for high-dynamic performance PMSM. IEEE Trans. Ind. Electron. 57(6): 2092–2100

    Article  Google Scholar 

  7. Wang Z, Lu K and Blaabjerg F 2012 A simple startup strategy based on current regulation for back-EMF-based sensorless control of PMSM. IEEE Trans. Power Electron. 27(8): 3817–3825

    Article  Google Scholar 

  8. Mishuku Y and Hasegawa M 2017 Initial position estimation of small SPMSM for position sensorless control. In: Proceedings of the IEEE International Conference on Power Electronics and Drive Systems (PEDS)

  9. Kulkarni A B and Ehsani M 1992 A novel position sensor elimination technique for the interior permanent-magnet synchronous motor drive. IEEE Trans. Ind. Appl. 28(1): 144–150

    Article  Google Scholar 

  10. Mizutani R, Takeshita T and Matsui N 1998 Current model-based sensorless drives of salient-pole PMSM at low speed and standstill. IEEE Trans. Ind. Appl. 34(4): 841–846

    Article  Google Scholar 

  11. Boussak M 2005 Implementation and experimental investigation of sensorless speed control with initial rotor position estimation for interior permanent magnet synchronous motor drive. IEEE Trans. Power Electron. 20(6): 1413–1422

    Article  Google Scholar 

  12. Wu X et al 2017 Initial rotor position detection for sensorless interior PMSM with square-wave voltage injection. IEEE Trans. Magn. 53(11): 1–4

    Google Scholar 

  13. Wu X et al 2017 Design of position estimation strategy of sensorless interior PMSM at standstill using minimum voltage vector injection method. IEEE Trans. Magn. 53(11): 1–4

    Google Scholar 

  14. Corley M J, Lorenz R D and Sul S 1996 Rotor position and velocity estimation for a permanent magnet synchronous machine at standstill and high speeds. In: Proceedings of the IEEE Industrial Applications Conference

  15. Kim H, Huh K, Lorenz R D and Jahns T M 2004 A novel method for initial rotor position estimation for IPM synchronous machine drives. IEEE Trans. Ind. Appl. 40(5): 1369–1378

    Article  Google Scholar 

  16. Xuan W et al A reliable initial rotor position estimation method for sensorless control of interior permanent magnet synchronous motors. ISA Trans. 97: 116–129

  17. Jeong Y, Lorenz R D, Jahns T M and Sul S 2003 Initial rotor position estimation of an interior permanent magnet synchronous machine using carrier-frequency injection methods. In: Proceedings of the IEEE International Conference on Electrical Machines and Drives

  18. Jin X et al 2018 High-frequency voltage-injection methods and observer design for initial position detection of permanent magnet synchronous machines. IEEE Trans. Power Electron 33(9): 7971–7979

    Article  Google Scholar 

  19. Zhang X, Li H, Yang S and Ma M 2018 Improved initial rotor position estimation for PMSM drives based on HF pulsating voltage signal injection. IEEE Trans. Ind. Electron. 65(6): 4702–4713

    Article  Google Scholar 

  20. Yang S, Yang S and Hu J 2017 Initial position estimation of permanent magnet machine with low saliency ratio. IEEE Access 5: 2685–2695

    Article  Google Scholar 

  21. Li S, Zheng S, Zhou X and Fang J 2018 A novel initial rotor position estimation method at standstill for doubly salient permanent magnet motor. IEEE Trans. Ind. Informat. 14(7): 2914–2924

    Article  Google Scholar 

  22. Nakashima S, Inagaki Y and Miki I 2000 Sensorless initial rotor position estimation of surface permanent-magnet synchronous motor. IEEE Trans. Ind. Appl. 36(6): 1598–1603

    Article  Google Scholar 

  23. Yan Y, Zhu J G and Guo Y G 2008 Initial rotor position estimation and sensorless direct torque control of surface-mounted permanent magnet synchronous motors considering saturation saliency. IET Electr. Power Appl. 2(1): 42–48

    Article  Google Scholar 

  24. Wu X et al 2015 Sensorless speed control with initial rotor position estimation for surface mounted permanent magnet synchronous motor drive in electric vehicles. Energies 8: 11030–11046

    Article  Google Scholar 

  25. Huang K, Wang L, Jiang Z and Huang S 2014 An enhanced reliability method of initial angle detection on surface mounted permanent magnet synchronous motor. In: Proceedings of the International Conference on Electrical Machines and Systems (ICEMS)

  26. Zhaobin H, Linru Y and Zhaodong W 2014 Sensorless initial rotor position identification for non-salient permanent magnet synchronous motors based on dynamic reluctance difference. IET Power Electron. 7(9): 2336–2346

    Article  Google Scholar 

  27. Wang G et al 2009 Initial position estimation for sensorless surface-mounted PMSM with near-zero saliency at standstill. In: Proceedings of the IEEE Vehicle Power and Propulsion Conference

  28. O’Kelly D and Simmons S 1968 Generalized electrical machine theory. McGraw-hill

    Google Scholar 

  29. Yang Y and Gao H 2011 Initial rotor position estimation for low saliency interior permanent-magnet synchronous motor drives. In: Proceedings of the IEEE Applied Power Electronics Conference and Exposition(APEC)

  30. Paul S and Chang J 2017 Precise estimation of initial pole position for surface permanent magnet synchronous motor based on modified reference frame method. IEEE Trans. Magn. 53(4): 1–9

    Article  Google Scholar 

  31. Chengliang Z et al 2015 A judgment method for initial position of permanent magnet synchronous motor rotor. Patent No. CN102843091

  32. Bing L et al 2014 A method for detecting initial position of surface mount type permanent magnet synchronous motor rotor. Patent No. CN103986394

  33. Bing L et al 2014 A method for detecting initial position of surface PM synchronous motor. Patent No. CN104022711

  34. Chang Y C and Tzou Y Y 2007 A new sensorless starting method for brushless DC motors without reversing rotation. In: Proceedings of the IEEE PESC Conference, pp. 619–624

  35. Lee W J and Ki Sul S 2006 A new starting method of BLDC motors without position sensor. IEEE Tran. Ind. Appl. 42(6): 1532–1538

    Article  Google Scholar 

  36. Jang G H, Park J H and Chang J H 2002 Position detection and start-up algorithm of a rotor in a sensorless BLDC motor utilising inductance variation. IET Electr. Power Appl. 149(2): 137–142

    Article  Google Scholar 

  37. Cassat A M 1991 Position detection for a brushless DC motor. Patent No. US5001405A

  38. Batzel D T 2002 Detection of rotor angle in a permanent magnet synchronous motor at zero speed. Patent No. US6441572B2

  39. Paitandi S and Sengupta M 2014 Design, fabrication and parameter evaluation of a surface mounted permanent magnet synchronous motor. In: Proceedings of the IEEE International Conference on Power Electronics Drives and Energy Systems (PEDES)

  40. Mukherjee P and Sengupta M 2014 Design, analysis and fabrication of a brush-less DC motor. In: Proceedings of the IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES)

  41. Rihar A, Zajec P and Voncina D 2017 Cosimulation of ansys simplerer and MATLAB/Simulink. In: Proceedings of the IEEE International Conference on Electrical Drives and Power Electronics

  42. Fitouri M, Bensalem Y and Abdelkrim M N 2016 Modeling and detection of the short-circuit fault in PMSM using Finite Element Analysis. IFAC-PapersOnLine, 49(12): 1418–1423

    Article  Google Scholar 

  43. Apostoai C M 2013 AC machines and drives simulation platform. In: Proceedings of the IEEE International Electric Machines and Drives Conference

  44. Colby R S and Novotny D W 1988 An efficiency-optimizing permanent-magnet synchronous motor drive. IEEE Trans. Ind. Appl. 24(3): 104–112

    Article  Google Scholar 

  45. Agarlita S, Coman C, Andreescu G and Boldea I 2013 Stable V/f control system with controlled power factor angle for permanent magnet synchronous motor drives. IET Electr. Power Appl. 7(4): 278–286

  46. Tang Z, Xiong Li, Dusmez S and Akin B 2016 A new V/f-based sensorless MTPA control for IPMSM drives. IEEE Trans. Power Electron. 31(6): 4400–4415

    Article  Google Scholar 

  47. Tu W, Xiao G, Suo C and Yang K 2017 A design of sensorless permanent magnet synchronous motor drive based on V/f control. In: Proceedings of the International Conference on Electrical Machines and Systems (ICEMS)

  48. Ancuti R, Boldea I and Andreescu G D 2010 Sensorless V/f control of high-speed surface permanent magnet synchronous motor drives with two novel stabilising loops for fast dynamics and robustness. IET Electr. Power Appl. 4(3): 149–157

    Article  Google Scholar 

  49. Fatu M, Teodorescu R, Boldea I, Andreescu G and Blaabjerg F 2008 I-F starting method with smooth transition to EMF based motion-sensorless vector control of PM synchronous motor/generator. In: Proceedings of the IEEE Power Electronics Specialists Conference

  50. Stellas D 2013 Sensorless scalar and vector control of a subsea PMSM. M.S. thesis, Chalmers University of Technology, Goteborg, Sweden

  51. Paitandi S and Sengupta M 2017 Analysis, design and implementation of sensorless V/f control in a surface-mounted PMSM without damper winding. Sadhana 42(8): 1317–1333

    Article  MathSciNet  Google Scholar 

Download references

Acknowledgements

The authors would like to express their gratitude for the assistance received from the IIEST authorities and research colleagues at the Advanced Power Electronics Laboratory, Department of Electrical Engineering, IIEST; particularly Prof B Barman is also gratefully acknowledged.

Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Indian Institute of Engineering Science and Technology, Shibpur, 711103, India

    Sourabh Paitandi & Mainak Sengupta

Authors
  1. Sourabh Paitandi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Mainak Sengupta
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Sourabh Paitandi.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Paitandi, S., Sengupta, M. Implementation of a novel and versatile initial rotor position estimation method on surface-mounted permanent magnet synchronous motor prototype at zero speed. Sādhanā 45, 271 (2020). https://doi.org/10.1007/s12046-020-01508-w

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s12046-020-01508-w

Keywords

Search

Navigation