KR20190143630A - Sensorless control system and method for permanent magnet synchronous motor - Google Patents

Abstract

The present invention relates to a sensorless control system for a permanent magnet synchronous motor in a precise manner to increase operation speed, and a method thereof. According to the present invention, the sensorless control system for a permanent magnet synchronous motor comprises: an extended electromotive force (EEMF) observer using current and voltage applied to the motor to estimate EEMF; a position and speed estimator using the estimated EEMF to estimate the position and the speed of a rotor; a speed controller using the estimated speed to output a torque control signal which is a reference torque; a maximum torque per ampere (MTPA) block outputting a current control signal which is a reference current generating a maximum torque per unit current in accordance with the torque control signal; and a current controller generating a voltage control signal in accordance with the current control signal.

Description

Sensorless Control System and Method of Permanent Magnet Synchronous Motor {SENSORLESS CONTROL SYSTEM AND METHOD FOR PERMANENT MAGNET SYNCHRONOUS MOTOR}

The present invention relates to the field of sensorless control of an electric motor, and more particularly, to a sensorless control system and method of an interior permanent magnet synchronous motor (IPMSM).

Permanent Magnet Synchronous Motor (PMSM) uses permanent magnets as a magnetic flux that generates torque, so it has higher output torque and higher efficiency than other AC motors. According to permanent magnet arrangement, it is divided into SPMSM (Surface Permanent Magnet Synchronous Motor) with permanent magnet attached to the rotor surface and IPMSM with permanent magnet placed inside the rotor. SPMSM can generate ideal torque without torque ripple when the ideal sine wave current is applied to the motor, but because the permanent magnet is attached to the rotor surface, the effective air gap is large. have. In the IPMSM, permanent magnets are located inside the rotor and have a polarity with a difference between a d-phase inductance and a q-phase inductance. IPMSM uses magnetic torque and reluctance torque due to polarity, so it has high torque density at small volume and can operate in a wide range of areas. Due to these characteristics, it is applied in various fields from home appliances to industrial use, and research on this is being actively conducted.

Since the position information of the rotor is required for the operation of the permanent magnet synchronous motor (PMSM), a sensor device such as a resolver or an absolute encoder is required to obtain this. However, there is a problem that the design of the entire system is complicated, the cost is increased, the production time is increased, and the sensor device is affected by the change of the surrounding environment. Therefore, in order to solve this problem, researches on a sensorless control method for obtaining the position information and the speed information of the rotor instead of using the sensor have been actively conducted.

Among the various sensorless control methods used in the industrial field, there is a sensorless control method based on Extended Electromotive Force (EEMF). This is a method of estimating the position of the rotor using the error component of the rotor angle included in the counter electromotive force component generated when the motor is rotated.

However, the conventional sensorless control method based on the extended organic power was to estimate the extended organic power through reconstruction, which does not compensate for the calculation error when there is a change due to an uncertain parameter or the surrounding environment. There is this.

와

를 각각 구하여 연산 속도가 개선되고 정밀한 영구자석 동기 전동기의 센서리스 제어 시스템을 제공한다.The present invention has been made in view of the above-described problems of the prior art, and estimated extended organic power.

Wow

The calculation speed is improved and the sensorless control system of the permanent magnet synchronous motor is precisely obtained.

The present invention provides a sensorless control system of a permanent magnet synchronous motor using MTPA (Maximum Torqueper Ampere) control to generate the most efficient torque for the armature current.

The present invention also provides a sensorless control method of a permanent magnet synchronous motor applied to the above-described improved system.

The present invention provides a sensorless control system of a permanent magnet synchronous motor, comprising: an extended organic power observer for estimating extended organic power using a current and a voltage applied to the motor; A position and velocity estimator for estimating the position and velocity of the rotor using the estimated extended induced power; A speed controller for outputting a torque control signal that is a reference torque using the estimated speed; An MTPA block for outputting a current control signal which is a reference current for generating a maximum torque per unit current according to the torque control signal; And a current controller generating a voltage control signal according to the current control signal.

축과

축에 대한 추정 확장 유기전력(

,

)을 각각 산출하는 제1 관측기와 제2 관측기를 포함한다.The extended organic power observer

Axis

Estimated extended induced power for an axis (

,

And a first observer and a second observer, respectively.

The first observer and the second observer, respectively,

과

and

에 따르고,

To follow,

here,

: 고정자 저항,

Stator resistance,

,

:

-

축상 고정자 전류,

,

:

-

Axial stator current,

: d-q상 인덕턴스,

dq phase inductance,

: 확장 유기전력을 추정하는 관측기의 이득을 각각 나타낸다.

: Represents gain of each observer estimating extended induced power.

The position and velocity estimator is

)를 산출한 후,According to the estimated position error of the rotor (

), Then

)가 0이 되도록 보상하여 회전자의 추정 위치(

)와 추정 속도(

)를 산출한다.Estimated position error (

) Is compensated to be zero so that the estimated position of the rotor (

) And estimated speed (

) Is calculated.

축과

축에 대한 유기전력을 각각 추정 산출하는 2개의 관측기를 사용하여 연산 속도가 빠르고 정밀한 제어가 가능하다. 기존의 리컨스트럭션을 이용한 EEMF 추정 방식과 본 발명의 EEMF 관측기를 통한 EEMF 추정 방식을 시뮬레이션을 이용해 비교한 결과, 본 발명의 관측기를 이용한 센서리스 운전에서 리플 저감과 함께 회전자의 속도제어 및 위치 추정에서 더 강인하고 정밀함을 확인할 수 있었다.According to the present invention, there is provided a sensorless control system and method for a permanent magnet synchronous motor. In this case, the MTPA control method is used to efficiently control the motor and generate the maximum torque per unit current to operate without sensor. In addition, we design an extended organic power (EEMF) observer using state-space equations to estimate the rotor position from the estimated EEMF. Especially,

Axis

Two observers that estimate and calculate the induced power for each axis enable fast and precise control. As a result of comparing the EEMF estimation method using the conventional reconstruction method and the EEMF estimation method using the EEMF observer of the present invention by simulation, the speed control and the position estimation of the rotor with the ripple reduction in the sensorless operation using the observer of the present invention. We found more robust and precise at.

1 is a block diagram schematically showing a permanent magnet synchronous motor sensorless control system according to a preferred embodiment of the present invention.
2 is a block diagram illustrating an extended organic power observer employed in the system of the present invention.
3 is a view illustrating an operation process of an extended organic power observer and a position and velocity estimator employed in the system of the present invention.
4 is a diagram showing an MTPA tracking curve in an MTPA block employed in the system of the present invention.
5 is a diagram illustrating a spatial vector diagram of an IPMSM to which the system of the present invention is applied.
6 is an equivalent block diagram of rotor position angle and rotor speed estimation in a position and speed estimator employed in the system of the present invention.
7 is an IPMSM sensorless speed control simulation result of a comparative example designed by the EEMF estimation method through the existing reconstruction.
8 is an IPMSM sensorless speed control simulation result using the EEMF observer of the present invention.
9 is a test result of sensorless operation using the reconstruction method of the comparative example when the IPMSM parameter 10% change.
10 shows test results of sensorless operation using the EEMF observer of the present invention when the IPMSM parameter is changed by 10%.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing the embodiments of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

와

을 각각 구하는 제1 관측기와 제2 관측기를 포함한다. 확장 유기전력 기반의 센서리스 제어는 전동기를 회전시킬 때 발생하는 역기전력 성분에 포함된 회전자 각의 오차 성분을 사용하여 회전자의 위치를 추정한다. 본 발명에서

와

을 두 개의 관측기로 나누어 추정하여 전차원 상태 관측기보다 적은 차수의 이득행렬을 사용할 수 있어서 연산 속도가 개선된다. 또한, 본 발명에서의 확장 유기전력 관측기의 사용은 기존의 리컨스트럭션을 통한 확장 유기전력 추정 방법이 가지는 불확실한 파라미터나 주변 환경에 따른 변화가 있을 때 계산 오차에 대한 보상이 되지 않는 문제를 보완하여, 더 정밀하게 회전자의 위치와 속도를 추정할 수 있도록 한다. 본 발명은 또한 마그네틱 토크와 릴럭턴스 토크를 효율적으로 사용하기 위해 단위전류당 최대 토크를 발생하는 MTPA(Maximum Torque per Ampere) 제어를 채택한다. MTPA 운전점을 찾아 d상, q상의 전류 지령치로 제어를 하게 되면

제어에 비하여 동일 토크를 발생시킬 때 전류를 적게 소모하고, 그 차이는 원하는 토크가 클수록 증가한다. 이러한 MTPA 제어를 사용하는 본 발명의 제어 방법은 저속 내지 중속에서의 제어에 바람직하게 적용될 수 있다.The Invention Expands Estimated Organic Power Through Observer Design Using IPMSM State-Space Equation

Wow

It includes a first observer and a second observer to obtain respectively. Sensorless control based on extended organic power estimates the position of the rotor using the error component of the rotor angle included in the back EMF component generated when the motor is rotated. In the present invention

Wow

It can be estimated by dividing the into two observers and using a smaller order of gain matrix than the full-dimensional state observer. In addition, the use of the extended organic power observer in the present invention compensates for the problem that the calculation error is not compensated when there are uncertain parameters or changes in the surrounding environment of the existing extended organic power estimation method through reconstruction. This allows more accurate estimation of the rotor position and speed. The present invention also employs MTPA (Maximum Torque per Ampere) control to generate maximum torque per unit current for efficient use of magnetic and reluctance torques. When the MTPA operation point is found and controlled by the current command value of d phase and q phase,

When generating the same torque as compared to the control, it consumes less current, and the difference increases as the desired torque becomes larger. The control method of the present invention using such MTPA control can be preferably applied to control at low to medium speeds.

1 is a block diagram schematically showing a permanent magnet synchronous motor sensorless control system according to a preferred embodiment of the present invention. 2 is a block diagram illustrating an extended organic power observer employed in the system of the present invention. 3 is a view showing the operation of the extended organic power observer and position and velocity estimator employed in the system of the present invention.

Referring to the drawings, a permanent magnet synchronous motor sensorless control system according to a preferred embodiment of the present invention, the motor (IPMSM) (M) is a speed controller 10, MTPA block 20, the current controller 30 and It may include an extended organic power observer 40, which estimates the extended induced power, and a position and velocity estimator 50. The system of the present invention may also further include a first vector rotator 60, a second vector rotator 70, and a PWM inverter 80.

)가 입력되면, 속도 제어기(10)는 기준 속도(

)에 해당하는 기준 토크(

)를 출력한다. MTPA 블록(20)은 기준 토크(

)가 입력되면 단위전류당 최대 토크 전류쌍을 계산하여 d 및 q상 전류 제어 신호(기준 전류

,

)를 출력한다. 전류 제어기(30)는 입력된 기준 전류(

,

)에 해당하는 기준 전압(

,

)을 출력한다. 제1 벡터 로테이터(60)는 전류 제어기(30)의 기준 전압(

,

)을 a, b, c 3상으로 변환하여 출력하고, PWM 인버터(80)는 출력된 3상 전압을 전동기(M)에 인가하여 기준 속도로 회전하도록 한다. In the control system of the present invention, the reference speed (10) to the speed controller 10 to start operation of the electric motor (M)

) Is input, the speed controller 10 determines the reference speed (

) Is the reference torque (

) MTPA block 20 is the reference torque (

) Is input, the maximum torque current pair per unit current is calculated and the d and q phase current control signals (reference current

,

) The current controller 30 inputs the input reference current (

,

) Corresponds to the reference voltage (

,

) The first vector rotator 60 is a reference voltage of the current controller 30 (

,

) Is converted to a, b, c three-phase and output, and the PWM inverter 80 applies the output three-phase voltage to the motor (M) to rotate at a reference speed.

,

로 나타내며, 이들은 제1 관측기(41)과 제2 관측기(42)에서 각각 구한다. 또한, 피드백 받은 전류(

,

)와 전압(

,

)은 벡터 로테이터(60 또는 70)을 통해

,

와

,

로 변환되어 확장 유기전력 관측기(40)으로 입력될 수 있다. 도 2의 (a)와 (b)에 나타낸 바와 같은, 확장 유기전력 관측기(40)의 제1 관측기(41)과 제2 관측기(42)는 각각 추정 확장 유기전력

와

을 각각 구하여 위치 및 속도 추정기(50)으로 출력한다.For speed control, the extended organic power observer 40 estimates the expanded induced electric power by receiving feedback of the current and voltage applied to the electric motor M. Estimated extended induced power

,

These are obtained from the first observer 41 and the second observer 42, respectively. In addition, the feedback current (

,

) And voltage (

,

) Through the vector rotator (60 or 70)

,

Wow

,

It may be converted into and input to the extended organic power observer 40. As shown in FIGS. 2A and 2B, the first observer 41 and the second observer 42 of the extended organic power observer 40 respectively estimate estimated extended organic power.

Wow

Are obtained and output to the position and velocity estimator 50, respectively.

,

)을 입력받아 회전자의 추정 위치 오차(

)를 산출하고, 추정 위치 오차(

)로 추정 속도를 보정함으로써 추정 회전자 위치(

)와 속도(

)를 산출하고, 추정 속도(

)를 속도 제어기(10)와 전류 제어기(30)로 입력한다. PI제어기를 구비하는 속도 제어기(10)는 입력된 추정 속도(

)와 기준 속도(

)를 감안하여 새로운 기준 토크(

)를 산출하여 MTPA 블록(20)으로 입력하고, 그 이하의 과정은 상술한 바와 같다. Position and velocity estimator 50 estimates extended

,

) And the estimated position error of the rotor (

) And estimated position error (

By calibrating the estimated speed with

) And speed (

) And the estimated speed (

) Is input to the speed controller 10 and the current controller 30. The speed controller 10 having a PI controller inputs an estimated estimated speed (

) And reference speed (

), Taking into account the new reference torque (

) Is calculated and input to the MTPA block 20, and the following procedure is as described above.

와

를 각각 구하는

추정 관측기(제1 관측기)와

추정 관측기(제2 관측기)를 포함하며, 이렇게 2개의 관측기로 나누어 추정하여 전차원 상태 관측기보다 적은 차수의 이득행렬을 사용할 수 있다는 장점을 가진다.Specifically, in the system of the present invention, the estimated extended organic power

Wow

To find each

With an estimated observer (first observer)

It includes an estimated observer (second observer), and has the advantage that the gain matrix can be used in a smaller order than the full-dimensional state observer by dividing into two observers.

Hereinafter, algorithms applied to the system and method of the present invention will be described in detail.

[MTPA control]

4 is a diagram showing an MTPA tracking curve in an MTPA block employed in the system of the present invention.

The torque equation in PMSM is shown in Equation (1) below.

(1)

(One)

는 전동기 출력 토크, P는 회전자 극의 쌍 수,

수는 영구자석 쇄교 자속,

는 d상 전류와 q상 전류의 벡터적 합,

,

는 d, q축 인덕턴스,

는 전류 위상각을 의미한다.At this time,

Is the motor output torque, P is the number of pairs of rotor poles,

Number is permanent magnet chain linkage,

Is the vector sum of the d-phase and q-phase currents,

,

Is d, q-axis inductance,

Denotes the current phase angle.

Since there are limitations of voltage and current according to the rating in IPMSM operation, the formula for the maximum voltage current for d, q phase voltage and current is as follows.

(2)

(2)

(3)

(3)

(4)

(4)

와

는 전기자 전류와 전압을 의미하고

,

는 d, q상 전류,

와

는 d, q상 전압,

,

은 각각 전류와 전압의 제한하는 값을 의미한다. 식 (4)는 식 (3)을 유기전압의 제한으로 치환한 것이며

는 유기전압,

는 각속도,

는 계자 자속,

은 유기전압의 제한하는 값이다.here

Wow

Means armature current and voltage

,

D, q phase current,

Wow

D, q phase voltage,

,

Are the limiting values of current and voltage, respectively. Equation (4) is to substitute Eq. (3) with the limit of the induced voltage.

Is the induced voltage,

Is the angular velocity,

Magnetic field flux,

Is the limiting value of the induced voltage.

과

다음 식들을 통해 얻을 수 있다.From equations (1), (2) and (4), the torque, the voltage limit ellipse, and the current limit circle can be expressed as shown in FIG. The intersection of the current limiting circle and the d, q phase current curve that produces a constant torque is the MTPA operating point. d, q-phase current curve

and

This can be obtained by the following equations.

(5)

(5)

(6)

(6)

과

를 얻을 수 있다. 순시 토크를 제어하려면 기준 토크를 발생시키면서 전류 벡터의 크기를 최소화하는 전류쌍을 실시간으로 계산하여야 한다. 그러나

,

는 운전 조건에 따라 크게 변하고 특히

는 전류 크기에 따라 그 값이 수십에서 수백%까지 바뀌므로 실시간으로 해를 구하여 제어에 이용하기는 어렵다. 그러므로 전류쌍을 미리 참조표(Look-up Table)에 저장한 후, 토크 지령에 따라 참조표를 통해 실제 전류가 참조표의 전류를 따라 가도록 제어할 수 있다. 연산 속도의 개선을 위해 본 발명에서는 실시간 수치 해석 대신 Look-up Table 방식을 적용하여 시뮬레이션하였다.D, q phase current command value according to torque command value through equations (5) and (6)

and

Can be obtained. To control the instantaneous torque, it is necessary to calculate in real time a current pair that minimizes the magnitude of the current vector while generating a reference torque. But

,

Vary greatly depending on driving conditions,

Since the value varies from tens to hundreds of percent depending on the magnitude of the current, it is difficult to solve and control in real time. Therefore, after storing the current pair in the look-up table in advance, it is possible to control the actual current to follow the current in the reference table through the reference table according to the torque command. In order to improve the computational speed, the present invention simulates by using the Look-up Table method instead of real-time numerical analysis.

 [IPMSM Model]

만큼 각도 오차를 가진

축을 이용한다.5 shows a spatial vector diagram of the IPMSM. α-β coordinate system means a two-axis fixed coordinate system by the stator winding. The dq coordinate system is a synchronous rotational coordinate system. The magnetic flux is generated in the d-axis, and the q-axis is 90 degrees ahead of the d-axis. dq-axis modeling uses information about the actual motor speed. However, in case of sensorless speed control, the equation modeled by the above dq axis is difficult to use. So the dq axis

With an angle error

Use the axis.

The voltage equation in the d-q coordinate system of IPMSM is

(7)

(7)

here,

: d-q상 고정자 전류

: dq phase stator current

: d-q상 고정자 전압

: dq phase stator voltage

: 회전자 전기각속도

: Rotor angular velocity

: 고정자 저항

Stator Resistance

: 영구자석에 의한 자속

: Magnetic flux by permanent magnet

,

: d-q상 인덕턴스

,

dq phase inductance

p: derivative operator

The voltage equation in the d-q coordinate system of equation (7) can be rewritten as in equation (8). The second column of equation (8), the column vector, is called EEMF.

(8)

(8)

(9)

(9)

좌표계에서의 전압방정식 (10)을 통해 회전자의 위치를 추정하게 되며 d-q 좌표계에서의 전압방정식 (8)을

좌표계로 변환하면 식 (10)과 같다.

The position of the rotor can be estimated using the voltage equation (10) in the coordinate system, and the voltage equation (8) in the dq coordinate system is estimated.

When converted to the coordinate system, it is as in (10).

(10)

10

(11)

(11)

=

), IPMSM(

<

)와 동기 릴럭턴스 모터(

=0)에서도 사용될 수 있으며 근사화가 필요가 없다. 또한, 위치각 오차

에 대한 정보를 포함하고 있으므로 이를 이용하여 회전자 위치를 추정하여 센서리스 운전에 사용할 수 있다.This mathematical model uses SPMSM (

=

), IPMSM (

<

) And synchronous reluctance motor (

= 0) and do not need approximation. Also, position angle error

Since it contains information about, it can be used for sensorless operation by estimating rotor position.

Extended Organic Power Estimation Algorithm

Assuming that the derivative of time of EEMF is 0 from Equation (10), it can be expressed as the following state space equation.

(12)

(12)

(13)

(13)

At this time,

(14)

(14)

(15)

(15)

EEMF can be estimated through the above state equation.

An algorithm for estimating EEMF can be derived from the observer design using equations (12) and (13), which are IPMSM state space equations. The first and second observers can be represented by equations (16) and (17), respectively.

(16)

(16)

(17)

(17)

과

을 추정하는 제1 및 제2 관측기(41, 42)에 대한 블록도이다.

,

는 EEMF

을 추정하는 관측기의 이득으로

,

는 Ackermann’s formula를 통해 구할 수 있다.

도

와 같은 방식으로 추정한다. 관측기의 입력은 식 (14), (15)의 전압과 피드백 받은 전류이고 출력을 통해 EEMF를 추정한다.(A) and (b) of FIG.

and

Is a block diagram of the first and second observers 41, 42 for estimating.

,

EEMF

As the gain of the observer estimating

,

Can be obtained from Ackermann's formula.

Degree

Estimate in the same way. The input of the observer is the voltages of equations (14) and (15) and the feedback current, and the output estimates the EEMF.

The use of the EEMF observer can compensate for the lack of robust and precise control because it is not compensated for calculation errors when there are uncertain parameters or changes in the surrounding environment, which are disadvantages of the reconstruction used in the conventional method. Therefore, the rotor position and speed can be estimated more accurately.

Position and Velocity Estimation Algorithm

The estimated position error can be calculated by the following equation (18).

(18)

(18)

와 추정 회전자 위치

는 추정 위치 오차

가 0이 되도록 PI 보상기인

를 통해 보상된다. 도 6은 본 발명의 시스템에 채용되는 위치 및 속도 추정기에서의 회전자 위치각과 회전자 속도 추정 등가 블록도이다.Estimated speed

And estimated rotor position

Estimated position error

Is the PI compensator so that

Rewarded through. 6 is an equivalent block diagram of rotor position angle and rotor speed estimation in a position and speed estimator employed in the system of the present invention.

과 감쇠율

을 도 6의 피드백 시스템에 적용하면, PI 보상기의 이득은

,

이 되며 추정 위치

와 추정 속도

는 같은 전달함수를 가진다.The process at this time is as shown in FIG. Natural frequency

And damping rate

Is applied to the feedback system of FIG. 6, the gain of the PI compensator

,

Will be estimated position

And estimated speed

Has the same transfer function.

[Test]

MATLAB Simulink was used to implement the test for the present invention and a comparative example using existing reconstruction. The 35kW IPMSM model was used and the sampling period of the proposed observer was set to 0.01 [ms]. The parameters of IPMSM used in the simulation are shown in Table 1.

Parameter Value Unit Number of pole pairs 4 - Rated speed 3000

Rated torque 111

Rated power 35

Armature resistance

0.05

Magnet flux-linkage

0.192

d-axis inductance

0.6033

q-axis inductance

0.6668

Inertia j 0.0011

Viscous Friction

0.01889

7 is an IPMSM sensorless speed control simulation result of a comparative example designed by the EEMF estimation method through the existing reconstruction. 8 is a simulation result using the EEMF observer of the present invention. When the speed command value was set at 1800 [rpm], both methods were speed controlled and rotated at the command speed within 0.2 [s]. However, it can be seen from FIGS. 7- (b) and 8- (b) that the error and ripple of the rotor estimation speed are smaller in the IPMSM operation using the EEMF observer of the present invention than the reconstruction method. In addition, it can be confirmed that the rotor position can be estimated more precisely in the sensorless speed control using the proposed EEMF observer through the comparison between FIGS. 7- (d) and 8- (d). 9 and 10 show test results of the reconstruction method of the comparative example and the sensorless operation using the EEMF observer of the present invention when the IPMSM parameter changes by 10%. When the IPMSM parameter was changed by 10%, the estimation method using the reconstructor (comparative example) and the result of the speed and position estimation using the EEMF observer of the present invention were compared. If there is a parameter variation, the conventional EEMF estimation method by reconstructing the IPMSM voltage equation not only slows down to the setpoint, but also increases ripple and error. However, the EEMF estimation method employed in the present invention can be confirmed that the error and ripple is less robust and accurate even when the parameter changes as shown in FIG.

The present invention uses the MTPA control method to efficiently control the IPMSM and to operate the maximum torque per unit current to operate without sensor, while estimating the rotor position through the EEMF estimated by designing the EEMF observer using the state-space equation. We propose an IPMSM sensorless control algorithm. In the IPMSM sensorless operation, the EEMF estimation method using the conventional reconstruction and the EEMF estimation method using the EEMF observer of the present invention are compared by simulation. In the speed control and position estimation of the system, it is confirmed that it is more robust and accurate. In addition, the performance improved significantly in the proposed sensorless operation when the IPMSM parameter changes by 10%.

In the foregoing detailed description of the present invention, specific embodiments have been described. However, it will be apparent to those skilled in the art that various modifications can be made without departing from the scope of the present invention.

10: speed controller, 20: MTPA block, 30: current controller, 40: extended organic power observer, 41: first observer, 42: second observer, 50: position and velocity estimator, 60: first vector rotator, 70: 2nd vector rotator, 80: PWM inverter, M: electric motor

Claims (7)

As a sensorless control system for permanent magnet synchronous motors:
An extended organic power observer for estimating extended organic power using a current and a voltage applied to the electric motor;
A position and velocity estimator for estimating the position and velocity of the rotor using the estimated extended induced power;
A speed controller for outputting a torque control signal that is a reference torque using the estimated speed;
An MTPA block for outputting a current control signal which is a reference current for generating a maximum torque per unit current according to the torque control signal; And
And a current controller for generating a voltage control signal according to the current control signal.
The method according to claim 1,
The extended organic power observer

Axis

Estimated extended induced power for an axis (

,

And a first observer and a second observer, each of which calculates.
The method according to claim 2,
The first observer and the second observer, respectively,

and

To follow,
here,

Stator resistance,

,

:

-

Axial stator current,

dq phase inductance,

: A sensorless control system for an electric motor, each representing a gain of an observer estimating extended induced power.
The method according to claim 2,
The position and velocity estimator is

According to the estimated position error of the rotor (

), Then
Estimated position error (

) Is compensated to be zero so that the estimated position of the rotor (

) And estimated speed (

Sensorless control system of a permanent magnet synchronous motor.
As a sensorless control method of a permanent magnet synchronous motor:
Receiving feedback of current and voltage applied to the motor

Axis

Estimated extended induced power for an axis (

,

Respectively);
The estimated extended organic power (

,

Estimating the position and speed of the rotor using;
Generating a torque control signal that is a reference torque using the reference speed and the estimated speed; And
And generating a current control signal which is a reference current for generating a maximum torque per unit current according to the torque control signal.
The method according to claim 5,
The estimated extended organic power (

,

) Are each

and

To follow,
here,

Stator resistance,

,

:

-

Axial stator current,

dq phase inductance,

: The sensorless control method of the motor which shows the gain of the observer which estimates extended induced electric power, respectively.
The method according to claim 6,
Estimate the position and speed of the rotor is the following equation

According to the estimated position error of the rotor (

), Then
Estimated position error (

) Is compensated to be zero so that the estimated position of the rotor (

) And estimated speed (

Sensorless control method for a permanent magnet synchronous motor.

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