Research Article

Advances in Mechanical Engineering

2017, Vol. 9(12) 1–10
Ó The Author(s) 2017
An improved rotating HF signal DOI: 10.1177/1687814017746244
journals.sagepub.com/home/ade
injection method based on FIR filters
for state estimation of BPMSM
sensorless control

Wei Ji, Guoding Shi, Bo Xu and Jian Xu

Abstract
An improved rotating high-frequency signal injection method based on a finite impulse-response filter for state estima-
tion of bearingless permanent magnet synchronous motor sensorless control is developed in this article. A novel equirip-
ple optimal approximation finite impulse-response filter, which can achieve that the maximum error of pass-band and
stop-band is minimum than other finite impulse-response filter under the conditions of the same-order magnitude, is
introduced to extract the high-frequency current signal and realize minimum extraction error. The rotor position error
signal can be extracted using heterodyning processing to the high-frequency current. The proposed method can effec-
tively eliminate the synchronous shaft filter and reduce the complexity of the system. Linear-phase compensation is used
in the finite impulse-response filter to achieve minimum delay of rotor speed and position estimation. The BPMSM sen-
sorless vector control system is set up based on this estimation approach. Simulation results indicate that the proposed
method integrated off-line optimization of a finite impulse-response filter and linear-phase compensation can accurately
estimate the rotor position and speed in the full-speed range.

Keywords
Bearingless permanent magnet synchronous motor, high-frequency signal injection, equiripple optimal approximation
finite impulse-response filter, linear-phase compensation

Date received: 14 June 2017; accepted: 9 November 2017

Handling Editor: Chenguang Yang

Introduction molecular pumps, centrifuges, electrical energy storage,

Bearingless motors fold the magnetic levitation control
winding around the stator slot by taking advantage of
the similarity between the structure of the magnetic
bearing and that of the motor stator. Its rotor can
rotate and be supported at the same time by controlling
the two sets of windings of which the pole pair differ-
ence is one. The advantages of bearingless motors are
no contact, no lubrication, and no mechanical friction
rotation.1 Bearingless motors have several excellent
qualities such as smaller volume, higher power density,
no pollution, no need for lubrication and sealing, and
high stability. They have broad application in turbo
aerospace2,3 and agricultural engineering, life sciences,
and other high-speed and ultra-high-speed drive fields.
Bearingless permanent magnet synchronous motors
(BPMSM) usually adopt rotor field-oriented vector
control method to realize decoupling control of the
School of Electrical and Information Engineering, Jiangsu University,
Zhenjiang, China
Corresponding author:
Wei Ji, School of Electrical and Information Engineering, Jiangsu
University, XueFu road No. 301, Zhenjiang 212013, Jiangsu, China.
Email: jwhxb@163.com

Creative Commons CC BY: This article is distributed under the terms of the Creative Commons Attribution 4.0 License
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further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/
open-access-at-sage).
2 Advances in Mechanical Engineering
electromagnetic torque and levitation force.4 The key
to this method is to obtain accurate rotor position and
speed. Traditionally, the position and speed of the
rotor space is detected by mechanical sensor detection
(a photoelectric coding device, a rotating transformer,
etc.). It has several installation problems including con-
nection and reliability. Especially for the bearingless
motor, the high-speed and ultra-high-speed perfor-
mance will be affected by mechanical sensor installa-
tion. Therefore, in recent years, sensorless control
technology has become an important area of study for
bearingless motors.
At present, in accordance with the applicable scope
of motor operation, sensorless control technology is
mainly divided into two categories: (1) state observation
and (2) high-frequency (HF) signal injection.5–9 This
method extracts the rotor speed and position informa-
tion directly or indirectly from the back electromotive
force (EMF) of the motor, and its dynamic perfor-
mance is good. However, when the speed is low or null,
it will fail because the back EMF is too small to be
detected. Accordingly, these methods apply only to
medium- or high-speed operations. (2) In HF signal
injection10–15 method, by applying HF excitation, the
full range of rotor position detection including zero
speed is effectively realized by tracking the rotor space
salient effect of the motor. It is not sensitive to the
change of motor parameters, and its robustness is excel-
lent because of the rotor space salient effect tracking. In
recent years, many scholars have studied and improved
this technique. In Wang et al.,11 the rotating HF injec-
tion method was adopted for the rotor initial position
and rotor speed estimation of a built-in permanent
magnet synchronous motor (PMSM). Synchronous
rotating filter processes, a two-phase static rotating
coordinate transformation and a Butterworth second-
order band-pass filter, were used to extract the
negative-phase sequence current in the two-phase sta-
tionary coordinates. In Bolognani et al.,12 a discrete
Fourier transform (DFT) was adopted to extract the
HF current envelope, which is the control signal of the
rotor position error. In Shinnaka,13 the elliptical HF
voltage, which changes with speed, was added to the
motor; and the two-phase HF current signal multiplica-
tion was added as the phase-locked loop (PLL) input
signal to obtain the rotor position and speed estimation
from zero speed to the rated speed. Various defects exist
in these methods such as complicated theory, cumber-
some processes, and a large amount of calculation. Hou
et al.14 combined the pulse vibration of the HF signal
injection method and a model reference adaptive. In
Foo and Rahman,15 the rotating HF signal injection
method and a sliding mode observer were combined to
realize the rotor position and speed estimation of the
PMSM in the full-speed range. The switch principle
should be designed in these composite algorithms to
ensure that the speed and rotor position estimation in
the transition zone is accurate.
This article studies the rotating HF signal injection
method to simplify the system design process. By
extracting HF current signal, the rippled best-
approximation finite impulse-response (FIR) filter is
designed off-line to ensure that the HF current signal is
accurate. Using heterodyning processing to the HF cur-
rent directly, a Chebyshev infinite impulse-response
(IIR) low-pass filter effectively extracts the rotor posi-
tion error signal to save a synchronous axis filter unit
and reduces the complexity of the system. Meanwhile,
the minimum delay time estimation of rotor speed and
position is realized by compensating for the phase lag
of the FIR. Finally, a BPMSM sensorless vector con-
trol system is constructed to verify the effectiveness of
the proposed method.
Rotating HF signal injection method
The essence of the embedded BPMSM rotating part is
PMSM. Under the static coordinate system, the motor
voltage model can be represented as
us = Rs is + pcs ð1Þ
where Rs is the stator resistance, p is the differential
operator, and is and cs are the stator current and the
flux linkage vector, respectively.
The HF voltage vector usi can be added to motor sta-
tor winding
 
cosðvc tÞ
usi = ush ð2Þ
 sinðvc tÞ
where ush is the amplitude of the injection HF voltage
and vc is the frequency of the injection HF signal.
When vc is greater than the rated frequency of the
motor, the stator resistance will be far less than the HF
impedance; the impedance voltage drop can be ignored
in equation (1), so voltage equation can be represented
approximately
us = pcs ð3Þ
If there is only one space salient-pole in the salient-
pole pitch of the motor, then in the synchronous rotat-
ing coordinate system, the stator inductance matrix can
be expressed as
 
L 0
Lsdq = d ð4Þ
0 Lq
where Ld and Lq are the inductance of the d axis and the
q axis, respectively. For embedded PMSM, the rotor
structure of convex polarity makes Lq .Ld .
Ji et al. 3

In the two-phase static coordinates, the inductance

matrix can be expressed as LPF
BPF
 
L + DL cos 2ue DL sin 2ue
Lsab = ð5Þ
DL sin 2ue L  DL cos 2ue

where L = (Ld + Lq )=2 is the average inductance and

DL = (Ld  Lq )=2 is the differential inductance. The sta-
tor flux linkage equations can be expressed as
    
csa L + DL cos 2ue DL sin 2ue isa
= +
csb DL sin 2ue L  DL cos 2ue isb
 
cf sin ue
+ ð6Þ Luenberger observer
cf cos ue

where csa and csb are the stator flux linkage compo-
nents in the two-phase static coordinates, respectively.
isa and isb are the stator current components in the two-
phase static coordinate system. cf is the flux linkage of
the rotor permanent magnet and ue is the position angle
in the N pole of the rotor permanent magnet.
Due to the convex polarity of the rotor structure of
the built-in PMSM, injected HF voltage can drive HF
current component with the magnetic pole position
information from the stator winding. By equations (3)
and (6), the HF current expression can be obtained
under a two-phase static coordinate, and it is simplified
as follows
   
isa I sin vc t + Isn sinð2ue  vtÞ
= sp
isb Isp cos vc t + Isn cosð2ue  vtÞ
where Isp and Isn are the HF current amplitude of posi-
tive and negative sequence components, respectively,
and Isp = Us L=vc (L2  DL2 ) and Isn = Us DL=
vc (L  DL2 ).
2 FIR filter design
Using heterodyning processing to the two-phase HF
current
   
ef = isa cos 2^ue  vc t  isb sin 2^ue  vc t
     
= Isp sin 2 vc t  ^ue + Isn sin 2 ^ue  ue
Figure 1. Structural diagram of rotor position extraction.
Design and compensation of the
best-approximation linear-phase
equiripple FIR filter
Signal-processing quality directly determines the esti-
mation precision of rotor position and speed in the
rotating HF signal injection method. To ensure the
HF current signal amplitude distortion and phase lag
will reach a minimum, this article uses the best-
approximation linear-phase equiripple FIR filter to
extract the HF current signal. The filter has linear-
phase characteristics, and the pass-band and stop-band
ð7Þ maximum error is minimal in the same order. By intro-
ducing this filter to the HF injection method, the system
tracking ability and quick response can be improved.
Assuming that impulse response of the FIR filter meets
the condition that h(n) is symmetrical, N is odd and
H(v) is the frequency response. With the definition of
system frequency response, the following can be obtained
ð8Þ
ðNX
1Þ=2

with low-pass filtering for ef , the rotor position estima- H ðv Þ = hðnÞ cos vn ð10Þ
tion error signal can be obtained n=0

     Assuming that Hd (v) is the target frequency response,

eDue = LPF ef = Isn sin 2 ^ue  ue W (v) is the error-weighted function, and the weighted
ð9Þ
= Isn sinð2Due Þ approximation error function is as follows

When the magnetic pole position identification error E ð v Þ = W ð v Þ½ H ð v Þ  H d ð v Þ 

is small, eDue is approximately proportional to Due . As "ðN 1Þ=2 #
shown in Figure 1, Luenberger observer is used to X ð11Þ
= W ðv Þ hðnÞ cos vn  Hd ðvÞ
adjust eDue for reducing the complexity of the algo- n=0
rithm. When eDue was adjusted to zero, the identifica-
tion value will converge to the actual rotor magnetic The essence that uses the equiripple optimal approx-
pole position, and the rotor magnetic pole position can imation method to design linear-phase FIR filter is to
be obtained. solve the (N  1)=2 coefficient h(n) so that the
4 Advances in Mechanical Engineering

maximum absolute value of the weighted error function Step 2. Checking whether a frequency point exists to
E(v) reaches a minimum within the following required meet the condition of jE(v)j.jdj near the r + 2
approximation of frequency band crossing points vi in Step 1. If it exists, find the local
  extreme points near the point to substitute for the
original point. A new crossing frequency set vi is
kEðvÞk = min maxjEðvÞj ð12Þ
hð nÞ v2A obtained. Finally, recalculate d, H(v), and E(v).
Step 3. Repeat Step 2 and adjust the frequency of the
where A is the approximation of ½0, p in a closed inter- crossing point group.
val (including a pass-band and stop-band but not Step 4. Calculate H(v) by the last interlacing point
including the transition zone). group vi , according to the linear phase condition,
The Chebyshev approximation theory holds that and h(n) can be obtained by the discrete Fourier
H(v) uniquely exists. On the basis of the interlacing inverse transform.
point set theorem,16 equation (13) can be given to
obtain H(v) A flowchart of the design process for FIR filter is
" # given in Figure 2.
X
r
W ðv i Þ hðnÞ cos vi n  Hd ðvi Þ The magnitude and phase response of the equiripple
n=0 optimal approximation FIR filter designed on the basis
i ð13Þ of the above process are shown in Figure 3.
= ð1Þ  maxjEðvÞj
v2A Considering that the difference between the motor base
= ð1Þi d; i = 0, 1, . . . , r + 1 wave frequency and HF signal injection frequency is
large, the transition zone should be set wider. At the
where d is the corrugated extreme value. h(1), same time, the stop-band attenuation should be as
h(2), . . . , h(r), d can be obtained by solving equation large as possible to meet the low-frequency signal filter-
(13). Thus, H(v) and E(v) are obtained. ing requirements. The pass-band cutoff frequency of
H(v) can be solved by the Remez algorithm, and the the filter is 900 and 1100 Hz and the stop-band cutoff
steps are as follows: frequency is 200 and 1800 Hz. The sampling frequency
fs = 4800 Hz, d = 0.001, the smallest stop-band
Step 1. Setting r + 2 frequency points v0 , attenuation is 80 dB, and the filter order N = 17.
v1 , . . . , vr + 1 in a frequency subset at regular inter- The impulse-response coefficients of the FIR filters
vals as the initial value of the crossing point group are as follows
in equation (14)
rP
+1
hðnÞ = hðN  1  nÞ
ai Hd ðvi Þ = ( 0:0058,  0:0178, 0:0071, 0:0774, 0:0535,
n=0
d= rP
+1
ð14Þ  0:1295,  0:1877, 0:0693, 0:2658), n = ð0, 1, . . . , 16Þ
ð1Þi ai =W ðvi Þ ð16Þ
n=0
Qr + 1 Linear-phase compensation
where ai = ( 1)i k =0 1= cos vk  cos vi . di is the
k6¼i The input signal of the position tracking observer has a
deviation relative to the initial crossing points group time delay because of the FIR filter phase lag.17 Thus,
and is not optimal. According to the Lagrange interpo- the output estimation of the rotor position tracking
lation formula in the form of center of gravity observer also lags behind the real value, so the output
angle of the rotor position tracking observer must be
P
r
bi
cos vcos vi ci
compensated. Aiming at the delay phenomenon, there
H ðv Þ = n=0
ð15Þ are many new techniques for addressing this problem in
Pr
bi Yang et al.,18 such as wave variable technique and pre-
cos vcos vi
n=0 dictive control. Considering the real-time performance
Q Pr  of the system, linear-phase compensation method is
where bi = ( 1)i rk = 0 n = 0 1= cos vk  cos vi adopted to solve the time delay of FIR filter phase lag.
k6¼i
and ci = Hd (vi )  ( 1)i di =W (vi )(i = 0, 1, . . . , r + 1) The compensation angle, which depends on the rotor
E(v) can be obtained by equation (11). If all vi meet speed and system sampling time, is as follows
jE(vi )j\jdj, then d is the corrugated extreme value,
N 1
and the initial guess value vi is the frequency of cross- ue = ^u + uf = ^u + vTs ð17Þ
ing point group. Then, calculations come to an end. 2
Otherwise, Step 2 is executed. where uf = ((N  1)=2)vTS is the compensation angle.
Ji et al. 5

Start

Initialize the frequency of

crossing point group

Calculate and by equation(14) and

(15), then obtain by equation(11)

Find the local extreme

No points in the condition of
and choose
new crossing frequency
Yes
obtain bby using discrete
Fourierr tr
ttransform
ans for

End

Figure 2. The flowchart of the design process for FIR filter.

The essence of the bearingless motor rotating part is

Figure 3. Frequency response of the equiripple optimal
approximation FIR filter: (a) magnitude response and (b) phase
response.
Simulation of BPMSM with speed
sensorless
Mathematical model of BPMSM
There are two sets winding with different polar pairs
embedded in the BPMSM: the torque winding (the
number of pole pairs P1 and the electrical angular fre-
quency v1 ) and the levitation winding (the number of
pole pairs P2 and the electrical angular frequency v2 ).
When these two sets of winding polar pairs meet
P2 = P1 6 1 and when the electrical angular frequency
meets v1 = v2 . Then, the BPMSM rotor will rotate
and be supported the self-levitation by controlling the
two sets of windings. Therefore, the BPMSM can
rotate without contact, lubrication, and mechanical
friction.19
the PMSM. With HF excitation, the model of the motor
rotating part is shown in part 2. The model of the radial
levitation force Fx and Fy in the x and y directions can
be obtained from the virtual displacement principle of
the electromagnetic field as shown in equation (18)
  
Fx  cosðvt + u1 Þ sinðvt + u1 Þ ix
= M 0 I:
Fy sinðvt + u1 Þ cosðvt + u1 Þ iy
ð18Þ
where M 0 is the mutual inductance of torque and radial
levitation force windings relative to the derivative of
the radial displacement x and y and v is the rotor angu-
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
lar velocity I = Ip2 + Iq2 and u1 = arctan (Iq =Ip ). Ip is
the equivalent current component amplitude of the per-
manent magnet and Iq is the equivalent torque current
component amplitude of the motor. Ignoring the motor
magnetic saturation, the following is obtained
 
u0 pn2 nl r  lp + lg
M0 = :  2 ð19Þ
8 lp + lg
where n, n2 is the turn number of the equivalent stator
winding and the radial levitation force winding, respec-
tively; l is the rotor core length; r is the stator inner cir-
cle radius; lp is the permanent magnet thickness; lg is
the thickness of air gap; and lp + lg is the distance
between the stator internal surface and the external sur-
face of the rotor.
6 Advances in Mechanical Engineering

Figure 4. Configuration diagram of the controller system based on rotating high-frequency signal injection.

Operation of BPMSM with speed sensorless

The system configuration diagram including speed con-
trol, levitation force control, rotor position, and speed
detection based on the rotating HF injection method of
the BPMSM sensorless vector control is presented in
Figure 4. The traditional proportional–integral–deriva-
tive (PID) controller is adopted in control system. Some
advanced control techniques,3,20 such as intelligent con-
troller and nonlinear controller, will be attempted in the
future work. The rotor field–oriented control strategy is
used by id = 0. u1 is the load angle and u2 is the initial
position angle between the centerline of the stator A
phase winding and the d axis.
The simulation prototype parameters are as follows: Figure 5. Speed estimation at 10 rad/s.
the number of pole pairs of torque winding P1 = 4, the
stator resistance Rs = 2.875 O, the stator direct-axis
inductance Ld = 6.5 mH, the quadrature axis induc- EKF algorithm information can be referred to Yu and
tance Lq = 10:5 mH, the moment of inertia J = Hu.7 The parameters of EKF algorithm are as follows:
0:8 3 104 kg m2 , the rotor quality m = 1 kg, the linked state variable x, initial value of the state variable
flux of the permanent magnet poles and the stator x(0) = ½ 0 0 0 2 0 T , initial value of error 3covariance
winding is 0.175 Wb, and the number of pole pairs of 106 0 0 0
levitation force winding is P2 = 3. Considering the 6 0 106 0 0 7
matrix P(0) = 6 4 0
7, initial
influence of the rotor eccentricity and rotor gravity, it 0 106
0 5
is assumed that static initial air-gap eccentric is 0 0 0 106
Dx =  0:15 mm, Dy =  0:25 mm, and u1 = u2 = 0. value 2 of process noise
3 covariance matrix
In the system simulation, the variable-step method is 200 0 0 0
adopted, and the simulation model is ode45. The fre- 6 0 200 0 0 7
Qk = 64 0
7, and initial value of mea-
quency and amplitude of the HF signal are 1000 Hz 0 20 0 5
and 5, respectively. The equiripple optimal approxima- 0 0 0 0:2
 
tion band-pass filter described in this article is used to 0:5
extract the HF signal, and linear-phase compensation surement noise covariance matrix Rk = .
0:5
is adopted for the system estimated angle. The conven- Figures 5–13 show the operational curves of speed
tionally extended Kalman filter (EKF) algorithm is sensorless based on the rotating HF signal injection
used to compare with the proposed approach. Detailed method under the different rotating speed. Figures 5, 8,
Ji et al.
Figure 6. Space position estimation at 10 rad/s.
Figure 7. Space position estimation error at 10 rad/s.
Figure 8. Speed estimation at 1000 rad/s.
and 11 show the motor speed curve, while the speeds
are 10 and 1000 rad/s, and mutated from 500 to
100 rad/s, respectively. Figures 6, 9, and 12 are the rotor
7
Figure 9. Space position estimation at 1000 rad/s.
Figure 10. Space position estimation error at 1000 rad/s.
angle position estimation curves. Figures 7, 10, and 13
are the rotor angle position estimation error curves. It
can be seen that under the conditions of low-speed,
high-speed, or speed mutation, the rotating HF signal
injection method can accurately estimate the rotor posi-
tion and speed in full scope of speed. Compared with
extended Kalman filtering, the estimation performance
at the low-speed and extremely low-speed ranges is
superior. In addition, the track rotor speed using HF
signal injection method is faster than using Kalman fil-
tering with complex calculations.
Figures 14–16 show the operation curves of speed
sensorless when the motor cross, direct-axis inductance,
and stator resistance each increases 20%, and the con-
trol parameters remain the same. Figure 14 shows the
speed curve of a motor at 800 rad/s at parameter distur-
bance. Figure 15 shows the space position estimation
error at parameter disturbance. Figure 16 shows the
space position estimation error at parameter
8 Advances in Mechanical Engineering

Figure 11. Speed estimation at speed step response. Figure 14. Speed estimation at parameter disturbance.

Figure 15. Space position estimation at parameter disturbance.

Figure 12. Space position estimation at speed step response.

Figure 16. Space position estimation error at parameter

Figure 13. Space position estimation error at speed step disturbance.
response.
Ji et al.
Figure 17. Rotor x and y displacements for speed step
response.
disturbance. It can be seen that the starting error of the
EKF estimation is large when the system parameters
change. Compared with EKF, the HF signal injection
method is more robust during system parameter
changes.
Figure 17 shows the rotor displacement curves when
the speed mutates from 100 to 20 rad/s and the rotor
keeps stable suspension after adjustment.
Conclusion
This article proposes an improved rotating HF signal
injection method based on an FIR-optimized filter in
order to operate motors with speed sensorless. This
method removes the synchronization filter unit to
reduce the system complexity. An equiripple optimal
approximation FIR filter is used to extract the HF cur-
rent signal and ensure the error of the HF current sig-
nal is the smallest. The linear-phase compensation is
added to ensure the delay of the motor rotor speed and
position estimation is minimal. The speed sensorless
vector control experimental platform of BPMSM is
estimated for real-time simulation. The experimental
results show that the proposed algorithm can accu-
rately estimate the rotor speed and position in a full-
speed range, and compared with Kalman filtering, the
estimation precision is more accurate and robust.
Declaration of conflicting interests
The author(s) declared no potential conflicts of interest with
respect to the research, authorship, and/or publication of this
article.
Funding
The author(s) disclosed receipt of the following financial sup-
port for the research, authorship, and/or publication of this
9
article: This work is supported by the National Natural
Science Foundation of China (grant no. 61703186), Natural
Science Foundation of Jiangsu Province (grant no.
BK20150530), a Project Funded by the Priority Academic
Program Development of Jiangsu Higher Education
Institutions (PAPD), and the Professional Research
Foundation for Advanced Talents of Jiangsu University
(grant no. 14JDG077).
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