1310
3, MAY/JUNE 2011
Rotor Position Estimation for Synchronous Machines
Based on Equivalent EMF
Jingbo Liu, Senior Member, IEEE, Thomas A. Nondahl, Fellow, IEEE, Peter B. Schmidt, Member, IEEE,
Semyon Royak, Senior Member, IEEE, and Mark Harbaugh, Member, IEEE
Abstract—This paper provides and analyzes a simple, robust,
and universal model for rotor position estimation for synchronous
machines. The rotor position is estimated using an equivalent
electromotive force (EMF) model of a synchronous machine or,
alternately, using a sliding-mode observer (SMO) based on the
equivalent EMF model. The SMO provides fast convergence and
low sensitivity to parameter variations. Experimental results with
a 3.7-kW interior-permanent-magnet machine have validated the
effectiveness of the proposed equivalent EMF scheme.
Index Terms—Electromotive force, rotor position estimation,
sliding mode observer, synchronous machine.
I. I NTRODUCTION
R ESEARCH on rotor position estimation for synchronous
machines has gained much attention because of several
disadvantages of using a position sensor in a drive system,
such as added cost, reliability problems, increased mainte-
nance requirements, need of shaft extension and mounting
arrangements, etc. [1]–[15], [19]–[23]. The most commonly
used methods can be divided into two strategies: 1) back elec-
tromotive force (EMF) method and 2) high-frequency injection
(HFI). The HFI method takes advantage of the anisotropic
properties of the machines, which makes it a viable scheme
for synchronous machines at low speeds, including zero speed
[6]–[11], [19]. Unfortunately, the HFI method should only be
used in low-speed ranges because of extra losses, transient
disturbances, and limited control bandwidth. On the other hand,
back EMF-based methods fail at low and zero speeds because
the rotor position estimation fundamentally relies on back EMF
or speed-dependent voltages. Therefore, the back EMF-based
position estimators are generally used for machines operating
within the medium- and high-speed ranges.
Manuscript received May 14, 2010; revised August 11, 2010; accepted
October 9, 2010. Date of publication March 10, 2011; date of current ver-
sion May 18, 2011. Paper 2010-IDC-153.R1, presented at the 2010 IEEE
Applied Power Electronics Conference and Exposition, Palm Springs, CA,
February 21–25, and approved for publication in the IEEE T RANSACTIONS
ON I NDUSTRY A PPLICATIONS by the Industrial Drives Committee of the IEEE
Industry Applications Society.
J. Liu, T. A. Nondahl, and P. B. Schmidt are with Rockwell Au-
tomation, Milwaukee, WI 53204 USA (e-mail: jliu2@ra.rockwell.com;
tanondahl@ra.rockwell.com; pbschmidt@ra.rockwell.com).
S. Royak and M. Harbaugh are with Rockwell Automation, Mayfield
Heights, OH 44124 USA (e-mail: sroyak@ra.rockwell.com; mmharbaugh@
ra.rockwell.com).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TIA.2011.2125935
0093-9994/$26.00 © 2011 IEEE
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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 47, NO.
Some EMF models may not be suitable for all types of
synchronous motors. For example, some models may require
that the d- and q-axis inductance values be equal, making
them suitable only for nonsalient pole synchronous machines.
Other models may make assumptions that are not valid for all
operating conditions. For example, a commonly mentioned
EMF-based position estimation method for salient synchronous
machines is called “extended EMF” [13]–[15]. The extended
EMF model assumes that the estimated speed error and the
rate of change of the extended EMF are both zero. While such
assumptions may be valid under constant operating conditions,
the assumptions are not always valid during transient conditions.
A “fictitious flux” model for an interior permanent-magnet
(IPM) synchronous motor (IPMSM) was introduced in [1]
for salient permanent-magnet (PM) machines. A generalized
model for all ac machines based on “active flux” was proposed
in [2] and [3]. The “active flux” was considered to be an exten-
sion of the “extended EMF” [13]–[15] and the “fictitious flux”
[1]. The general concept of “active flux” or “fictitious flux” is
to convert a salient PM machine into a nonsalient equivalent.
This paper analyzes a simple and universal equivalent EMF
model for rotor position estimation for synchronous machines.
A complete derivation and analysis on the equivalent EMF is
provided in this paper. The equivalent EMF model does not
need machine velocity as an input, and it can be used with
any type of synchronous machine. Although the mathemati-
cal expression is equivalent to the “active flux” or “fictitious
flux” model, the equivalent EMF is introduced based on the
conventional concept of back EMF. The presented technique
in this paper is more than just a mathematical model. It can
be interpreted physically as an equivalent EMF which is always
aligned with the actual back EMF. In addition, the strengths and
also the limitations of the proposed equivalent EMF model are
analyzed in detail in this paper.
Based on the EMF models, various types of observers for
rotor position estimation have gained much research attention
recently such as the adaptive observers [21], [23] or the sliding-
mode observers (SMOs) [16]–[18], [19]–[22]. Researchers
have shown special interest in SMOs for the sensorless control
of electric machines due to their attractive features such as
robustness, order reduction, fast convergence, low sensitivity
to disturbance and parameter variations, etc. [16]–[18]. The
structure of a SMO or an adaptive observer becomes more
complicated based on the extended EMF model for salient
synchronous machines. Many SMOs in the literature are for
nonsalient permanent-magnet synchronous motors (PMSMs).
SMOs designed for salient synchronous machines often have
LIU et al.: ROTOR POSITION ESTIMATION FOR SYNCHRONOUS MACHINES BASED ON EQUIVALENT EMF 1311

The first term on the right side of (2) contains unknown vari-
ables 2θ caused by machine saliency. That makes the mathe-
matical model of a salient PM machine much more complicated
than its nonsalient counterpart.

A. EMF Model for Nonsalient SPMSM

Equations for a nonsalient surface PMSM (SPMSM) in a
stationary (α−β) reference frame are
   d
    
vα R + L dt 0 iα − sin θ
= d · + ωλpm
vβ 0 R + L dt iβ cos θ
(5)
where Ld = Lq = L.
Fig. 1. Salient PM synchronous machine.
The first term on the right side of (5) contains known vari-
very complicated mathematics [16], [18], [19], and [21]. A ables. The only unknown variables are in the EMF term (the
sliding-mode stator flux observer for IPM motors to improve second term) that contains the rotor position. If we define
the flux estimation at low speeds uses the concept “active flux,” 
which has a comparatively simple expression [20]. λα = − iα · L + (vα − iα · R) (6)
Based on the dynamic models utilizing equivalent EMF, a 
novel easy-to-implement SMO is proposed in this paper that λβ = − iβ · L + (vβ − iβ · R) (7)
can be utilized for any type of synchronous machines, salient
or nonsalient. then
 
λβ
II. R EVIEW OF EMF-BASED P OSITION E STIMATION θ = tan−1 . (8)
λα
FOR S YNCHRONOUS M ACHINES

Fig. 1 shows the basic structure of a salient two-pole PM

machine. The α-axis is aligned to the stator phase a-axis. The B. Extended EMF Observer
d−q frame corresponds to the synchronously rotating reference The most commonly mentioned EMF-based position estima-
frame. The d-axis is aligned with the N-pole of the rotor, and tion method for a salient PM machine is called extended EMF
the q-axis is 90◦ apart from the d-axis. Here, θ represents the [13], [14]. The d−q voltage (1) is rearranged to
estimated position while θ refers to the actual rotor position.        
vd d
R + dt Ld −ωLq id 0
A salient machine model in a synchronous rotating reference = d · + . (9)
(d−q) frame can be expressed by vq ωLq R + dt Ld iq Eext
       
vd d
R + dt Ld −ωLq id 0 Similarly, the first term on the right side of (9) contains
= d · + ωλpm (1)
vq ωLd R + dt Lq iq 1 known variables. The second term is defined as the extended
EMF term in [13] and [14]
where
vd and vq d- and q-axis stator voltages; d
Eext = ω · [λpm + (Ld − Lq ) · id ] − (Ld − Lq ) iq . (10)
id and iq d- and q-axis stator currents; dt
R stator resistance;
Transforming (10) into the γ−δ reference frame (the γ−δ
Ld and Lq d- and q-axis stator self-inductances;
frame is defined as an estimated reference frame in [13] as
λpm per-phase PM flux linkage.
shown in Fig. 1) gives
However, the d−q model cannot be utilized without the     
knowledge of the rotor position. Transforming the d−q model êγ R + Ld · dt
d
−ω · Lq iγ
=
to the stationary reference frame yields equations for a salient- êδ ω · Lq R + Ld · dtd iδ
   
pole synchronous machine in the α−β coordinates. − sin θe −iδ
    + Eex + (ω̂ − ω)Ld (11)
d
R + dt (L0 + L1 cos 2θ) d cos θe iγ
vα
= dt L1 sin 2θ
vβ d
dt L1 sin 2θ R + dtd
(L0 − L1 cos 2θ)
    where θe is the estimation error between the estimated position
iα − sin θ
· + ωλpm (2) and the actual position.
iβ cos θ We can see that the first term on the right side of (11) contains
where known variables while the second term contains an extended
EMF that can be used to extract the error between the estimated
Lq + Ld
L0 = (3) rotor position and the actual rotor position. Note that the third
2 term, the error between the estimated speed and the actual
Ld − Lq
L1 = . (4) speed, is assumed to be zero.
2

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1312 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 47, NO. 3, MAY/JUNE 2011

The extended EMF position estimator was a distinct

improvement over previous formulations, but it has two im-
plementation challenges. The first is that the estimator is
formulated in the synchronous reference frame and requires
transformations using an angle that rotates in synchronism with
the unknown rotor position angle. The second implementation
challenge is that the estimator requires rotor speed. Rotor speed
is also unknown and must be derived from the estimated rotor
position.

III. E QUIVALENT EMF T HEORY

Rearrange (2) to Fig. 2. Phasor diagram of a synchronous machine.
d d
vα = R · iα + [(L0 − L1 + L1 cos 2θ) · iα ] + [L1 · iα ] controllers which update control loops at rates of 5 kHz or
dt dt
d higher.
+ [L1 sin 2θ · iβ ] − ωλpm sin θ (12) The term 2L1 id + λpm should be nonzero for salient syn-
dt
d chronous machines such that the equivalent EMF exists, i.e.,
vβ = R · iβ + [(L0 − L1 − L1 cos 2θ) · iβ ]
dt λpm
d d id = . (24)
+ [L1 · iβ ] + [L1 sin 2θ · iα ] + ωλpm cos θ. (13) Lq − Ld
dt dt
Defining position-dependent variables gives In fact, for IPM machines (Ld < Lq ), (24) will never be a
physical operation point because id is always commanded to be
d d
vα = R · iα + Lq iα + λα (14) zero or negative.
dt dt In short, equations for a synchronous machine in the sta-
d d
vβ = R · iβ + Lq iβ + λβ (15) tionary (α−β) reference frame can be expressed using the
dt dt
equivalent EMF, i.e.,
where       
λα −iα · Lq vα − iα · R
d  d d = + · dt. (25)
λ = (L1 cos 2θ · iα ) + (L1 · iα ) λβ −iβ · Lq vβ − iβ · R
dt α dt dt
d The estimated position is
+ (L1 sin 2θ · iβ ) − ωλpm sin θ (16)
dt  
d  d d λβ
λβ = (−L1 · cos 2θ · iβ ) + (L1 · iβ ) θ = tan−1 . (26)
dt dt dt λα
d
+ (L1 sin 2θ · iα ) + ωλpm cos θ. (17)
dt The relationship of the equivalent EMF and the actual EMF
can be clearly explained by a phasor diagram (see Fig. 2). The
Using the relationship 
equivalent EMF vector E is always aligned with the actual
iα = id cos θ − iq sin θ (18) EMF vector E. Consequently, one may utilize the equivalent
EMF to extract the rotor position. The difference between the
iβ = id sin θ + iq cos θ. (19) two EMF vectors is caused by machine saliency (jω(Ld −


We derive and define the equivalent EMF terms as
d 
eα = λ = −(2L1 · id ω + ωλpm ) sin θ
dt α
d 
eβ = λβ = (2L1 · id ω + ωλpm ) cos θ.
dt
Integrating both sides of (20) and (21) with respect to time
and assuming that machine velocity changes slowly over an
integration calculation period (ω̇ ≈ 0), we obtain
λα = (2L1 · id + λpm ) · cos θ
λβ = (2L1 · id + λpm ) · sin θ.
Taking the arctangent of λβ /λα will give θ. Note that the
assumption that the machine velocity changes slowly over
an integration calculation period can be easily met by drive
Lq )Id ). The equivalent EMF vector will be the same as the
actual EMF vector under two circumstances: 1) nonsalient
PMSM or 2) id is zero.
(20)
The actual EMF vector can be expressed as
(21) E = E − jI d (Xd − Xq ) = ωλpm . (27)
Equation (27) can also be utilized to estimate the permanent
flux linkage λpm for a PM synchronous machine based on the
equivalent EMF model.
Table I shows the comparison among three EMF methods.
(22) As a summary, the advantages of the proposed equivalent
(23) EMF model are the following: 1) simple and generic equations
for all types of synchronous machines; 2) only two machine
parameters (Lq and R) are needed; 3) velocity is not needed as
an observer input; and 4) it works well for both steady state and
transients.

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LIU et al.: ROTOR POSITION ESTIMATION FOR SYNCHRONOUS MACHINES BASED ON EQUIVALENT EMF 1313

TABLE I Subtracting the model equation (29) from (28) yields the
C OMPARISON
error dynamics along the sliding surface
˙       
iα R iα 1 eα KSM sign(iα )
= − + − (30)
i˙ β Lq iβ Lq eβ Lq sign(iβ )

where observation errors are

iα = îα − iα (31)
iβ = îβ − iβ . (32)

Let us select the Lyapunov function as

12 2

V = iα + iβ (33)
2
then
R 2
V̇ = iα · i˙ α + iβ · i˙ β = −
2
iα + iβ
Lq
1
  KSM

The equivalent EMF model can be used by any type of + eα · iα + eβ · iβ − |iα | + |iβ | . (34)
Lq Lq
synchronous motor: 1) SPMSM (Ld = Lq ); 2) wound rotor
synchronous machine (Ld > Lq ); 3) IPMSM (Ld < Lq ); and Equation (34) shows that, if KSM is large enough, i.e.,
4) synchronous reluctance machine (λP M = 0).  
KSM > max |eα | , eβ (35)
IV. SMO BASED ON E QUIVALENT EMF then V̇ < 0 is always guaranteed until īα = 0 and īβ = 0. As
The SMO has attractive features such as robustness, order previously mentioned in Section III, the equivalent EMF vector
reduction, fast convergence, and low sensitivity to disturbance is always aligned with the actual EMF vector. The difference
and parameter variations, etc. [16]–[21]. The sliding-mode between the two EMF vectors is caused by machine saliency.
control theory is an effective nonlinear robust control method Because the actual EMF is bounded and the term caused by
providing system dynamics with an invariance property to machine saliency is also bounded, the equivalent EMF com-
uncertainties if sliding mode occurs [17], [18]. The first step of ponents are bounded. Once the system trajectory reaches the
a design of a sliding-mode controller is to select a sliding sur- sliding surface, it stays on it and slides along it to the origin.
face that models the desired closed-loop performance in state The estimated current will converge to the actual current when
variable space. Then, design the control such that the system sliding mode occurs with the state trajectory confined to the
state trajectories are forced toward the sliding surface. Once the sliding manifold after a finite time interval.
system trajectory reaches the sliding surface, it stays on it and The sliding-mode forces the convergence of the observed
slides along toward the origin. The system trajectory sliding current values to the measured current values. In order to
along the sliding surface to the origin is the sliding mode. A force the convergence of the observed current values with the
SMO is generally designed with inputs of the discontinuous measured current values, the desired error values between the
functions of the error between the estimated and measured observed and actual current values in the stationary reference
outputs [17], [18]. By enforcing the sliding mode, the system frame, ia and ib , are set to zero, and an equivalent control
states can be reconstructed. method [17], as shown in Fig. 3, is applied. By setting the error
Let us design a SMO by values, ia and ib , to zero, an expression for the equivalent EMF
is obtained according to
˙       
îα 1 vα R îα KSM sign(îα − iα )  
= − − (28) KSM sign(iα ) eq = eα
î˙ β Lq vβ Lq îβ Lq sign(îβ − iβ ) (36)
 
where KSM sign(iβ ) eq = eβ . (37)
KSM constant observer gain;
îα observed α-axis current; Low-pass filters (LPFs) are utilized to extract eα and eβ
îβ observed β-axis current. for the position estimation. Finally, the rotor position is
Rearranging (14) and (15) and combining (20) and (21), we obtained by
obtain     
 −1 eα −1
KSM sign(iα ) eq
        θ = − tan = − tan   .
i̇α 1 vα R iα 1 eα eβ KSM sign(iβ ) eq
= − − . (29)
i̇β Lq vβ Lq iβ Lq eβ (38)

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1314 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 47, NO. 3, MAY/JUNE 2011

Fig. 3. Implementation of a SMO based on equivalent EMF.

Fig. 4. Test fixture.

Fig. 3 shows a block diagram of the implementation of the TABLE II

3.7-kW IPM M ACHINE PARAMETERS
proposed SMO. Preferably, the observed motor current from the
sliding-mode model is in a stationary reference frame, having
an alpha and a beta component. The difference between the
observed and actual motor currents for each of the alpha and
beta components is passed through a sign function. A LPF is
then applied to the output of the sign function to obtain the
equivalent EMF values e◦α and eβ in the stationary reference
frame. The rotor position is finally estimated by determining
the negative of the arctangent of the alpha component of the
equivalent EMF value over the beta component as shown in the
figure.
HFI and then switched to an estimated position by equivalent
EMF at about 15% of the machine base speed. The principle
of HFI at low speed is independent of EMF-based position
V. E XPERIMENTAL R ESULTS
estimation schemes. It is therefore omitted from this paper. A
The test fixture of a 3.7-kW IPM motor coupled to a dc first-order high pass filter (HPF) with a 3-Hz cutoff frequency
load machine is shown in Fig. 4. The control algorithm is built was utilized to remove the dc offsets caused by the integrator.
within the MATLAB/SIMULINK environment combined with Fig. 5 shows the control diagram utilizing the proposed
the real-time interface provided by dSPACE. A 5.6-kW ac drive equivalent EMF schemes. The stationary reference frame cur-
is utilized as the power structure. Three phase currents and dc rent and voltage signals are inputs to the position estimator. The
bus voltage are sensed and sent to the DS2004 A/D board for current regulator outputs a voltage reference in the synchronous
the feedback control. Gate signals are produced via the DS5101 reference frame which is transformed back into the stationary
digital waveform board and sent to the interface board of the reference frame. A reference frame transformation generates
inverter. the d- and q-axis current feedback signals (id and iq ) for use
It should be noted that the resolver signals (the position and by the current regulators.
velocity) are for display only and were not used by any closed-
loop control. In all of the test results shown in this section, the
A. Experimental Results With Equivalent EMF
estimated position and velocity are utilized to close the current
and velocity loops. The parameters of the 3.7-kW IPM machine Fig. 6 shows the no-load experimental results using the
are shown in Table II. estimated position by equivalent EMF to close the current loops
As is well known, EMF-based methods fail at low and zero (torque mode) with i∗q = 8 A and i∗d = 0 A. The IPM machine
speeds. During tests, the 3.7-kW IPM motor was started using was started firstly and then switched to the estimated position

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LIU et al.: ROTOR POSITION ESTIMATION FOR SYNCHRONOUS MACHINES BASED ON EQUIVALENT EMF 1315

Fig. 5. Control block diagram using equivalent EMF.

Fig. 6. Experimental results in torque mode (no load) using the equivalent
EMF with i∗d = 0 A and i∗q = 8 A. (Blue trace) Resolver position; 1 rad/div.
(Red trace) Estimated position; 1 rad/div.
Fig. 7. Experimental results in torque mode (no load) with i∗d = −4.3 A and
i∗q changed from +7 to −7 A. (Top trace) id feedback; 10 A/div. (Bottom trace)
iq feedback; 5 A/div.

calculated by the equivalent EMF model. Both the estimated

position and the encoder position are shown in Fig. 6. The top
trace shows the positions during the first 2 s after motor starting.
The bottom trace shows the zoomed-in view of the positions
from 2.9 to 2.95 s (at a speed of about 2 400 r/min). The results
in Fig. 6 show that the estimated position matches the actual
position well. The motor is controlled in the torque mode.
Figs. 7 and 8 show the experimental results using the esti-
mated position by equivalent EMF to close the current loops
(torque mode) when the iq command was changed from +7
to −7 A with the id command being −4.3 A (corresponding
to maximum torque per ampere commands at the rated phase Fig. 8. Experimental results in torque mode (no load) with i∗d = −4.3 A and
peak current of 8.2 A). Note that the IPM machine velocity is i∗q changed from +7 to −7 A. (Top trace in blue) Resolver velocity after a
over 300 r/min when the proposed equivalent EMF was used 100-Hz LPF; 2000 r/min/div. (Bottom red trace) Estimated velocity after
a 100-Hz LPF; 2000 r/min/div. (Bottom green trace) Estimated velocity after
to close the control loops. The estimated velocity after a first- a 5-Hz LPF; 2000 r/min/div.
order 100-Hz LPF (bottom trace in red in Fig. 8) and a first-
order 5-Hz LPF (bottom trace in green in Fig. 8) is plotted for Fig. 9 shows the experimental results using the estimated
display purposes. Note that the injected high frequency voltages position by equivalent EMF to close the current loops (torque
for the low-speed algorithm were completely turned off when mode) with i∗q = 7 A and i∗d = −4.3 A with a 10-N · m load
the machine velocity is over 800 r/min. applied on the shaft.

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1316 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 47, NO. 3, MAY/JUNE 2011
Fig. 9. Experimental results in torque mode with 10-N · m load with i∗d =
−4.3 A and i∗q = +7 A. (Top trace in blue) Resolver velocity after a
100-Hz LPF; 1000 r/min/div. (Bottom red trace) Estimated velocity after a
100-Hz LPF; 1000 r/min/div. (Bottom green trace) Estimated velocity after
a 5-Hz LPF; 1000 r/min/div.
Fig. 10. Experimental results in velocity mode with a velocity command at
3000 r/min; no load. (Top trace in blue) Resolver velocity after a 100-Hz
LPF; 1000 r/min/div. (Bottom red trace) Estimated velocity after a 100-Hz
LPF; 1000 r/min/div. (Bottom green trace) Estimated velocity after a 5-Hz LPF;
1000 r/min/div.
Fig. 10 shows the experimental results when the IPM ma-
chine was controlled in velocity mode (using the estimated
position to close the current loops and the estimated velocity
to close the velocity loop) with no load. The velocity command
is 3000 r/min.
Fig. 11 shows the experimental results when the IPM ma-
chine was controlled in velocity mode (using estimated position
to close the current loops and estimated velocity to close
the velocity loop) at 1 000 r/min with a 16-N · m load. The
estimated flux linkages by two different models are also shown
in Fig. 11. One is with the equivalent EMF model by (27), and
the other one is with the d−q model by (1). The estimated flux
linkages also agree well with the IPM machine nameplate data.
The results in Figs. 5–11 have verified that the pro-
posed position estimation scheme by equivalent EMF works
very well.
B. Experimental Results With SMO
Both position estimation schemes were tested with the fol-
lowing: 1) the equivalent EMF and 2) the SMO based on
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Fig. 11. Experimental results in velocity mode at 1000 r/min (steady state)
with 16-N · m load. (Ch1) Estimated flux linkage λEMF by (27); 0.5 Wb/div.
(Ch2) Estimated flux linkage λd−q by d−q model (1); 0.5 Wb/div. (Ch3)
Estimated position by equivalent EMF θEMF (5 rad/div). (Ch4) Resolver
position θresolver (5 rad/div).
Fig. 12. Operation in torque mode at 20 r/min using the estimated position by
equivalent EMF to close the current loop (no load). Traces from top to bottom
are the phase a current ia (1 A/div), iq feedback (1 A/div), estimated position
by equivalent EMF θEMF (5 rad/div), and θresolver (5 rad/div).
equivalent EMF. As an attempt to compare the performance of
the two position estimation schemes, both observers were tested
at very low speeds when the EMF observer generally does not
work well. During the tests, the IPM motor was turned by a dc
motor at various speeds without load. The IPM motor was con-
trolled in torque mode while both i∗d and i∗q were set to zero. The
estimated rotor position, either by the equivalent EMF or by the
SMO, was used to close the current loop. The sliding-mode gain
KSM was set at 3000. The cutoff frequency of the LPF used for
the SMO (results shown in Figs. 13 and 15) is 50 Hz.
Figs. 12 and 13 show the test results in torque mode when the
IPM machine was running at 20 r/min with the equivalent EMF
and SMO, respectively. Figs. 14 and 15 show the test results
when the IPM machine was running at 50 r/min.
It is clear that the SMO shows improved performance as
compared to the equivalent EMF position estimator when the
machine was operating at low speeds. In fact, the equivalent
EMF position estimator takes much longer time to converge to
the actual position due the integrator and the use of an HPF to
remove the dc offset caused by the pure integrator. The SMO
LIU et al.: ROTOR POSITION ESTIMATION FOR SYNCHRONOUS MACHINES BASED ON EQUIVALENT EMF
Fig. 13. Operation in torque mode at 20 r/min using SMO to close the current
loop (no load). Traces from top to bottom are α axis current iα (1 A/div),
observed iα by SMO (1 A/div), estimated position by SMO θSM O (5 rad/div),
and θresolver (5 rad/div).
Fig. 14. Operation in torque mode at 50 r/min using the estimated position
by the equivalent EMF to close the current loop (no load). Traces from top to
bottom are the phase a current iu (1 A/div), iq feedback (1 A/div), estimated
position by equivalent EMF θEMF (5 rad/div), and θresolver (5 rad/div).
Fig. 15. Operation in torque mode at 50 r/min using SMO to close the current
loop (no load). Traces from top to bottom are α axis current iα (1 A/div),
observed iα by SMO (1 A/div), estimated position by SMO θSM O (5 rad/div),
and θresolver (5 rad/div).
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1317
converges much faster, almost instantaneously, as compared to
the equivalent EMF method.
VI. C ONCLUSION
This paper has provided a formal derivation for a simple,
robust, and universal position estimation scheme for the control
of synchronous machines. The position estimation may be
implemented using an equivalent EMF model of a synchronous
machine or, alternately, using a SMO based on the equivalent
EMF model of the synchronous machine. The position esti-
mation scheme based on equivalent EMF may be used on any
type of synchronous machine, including salient or nonsalient
pole machines such as a PM, IPM, wound rotor, or reluctance
synchronous machine. No knowledge of velocity is required
as an input to the equivalent EMF model, and an estimated
position may be calculated using a subset of the machine
parameters.
SMOs for the control of electric machines have gained
much research interest due to many of their attractive features
such robustness, order reduction, and fast convergence. In this
paper, a novel SMO is designed based on the equivalent EMF
model. Unlike other sliding observers for salient synchronous
machines which are generally very complicated, the proposed
SMO is very simple to implement.
Experimental results with a 3.7-kW IPM machine have vali-
dated the effectiveness of the proposed equivalent EMF method
as well as the proposed SMO based on equivalent EMF.
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Jingbo Liu (S’99–M’05–SM’10) received the
B.Eng. and M.Eng. degrees in electrical engineering
from Huazhong University of Science and Technol-
ogy, Wuhan, China, in 1997 and 2000, respectively,
and the Ph.D. degree in electrical engineering from
The Ohio State University, Columbus, in 2005.
Since 2005, she has been a Research Engineer
with Advanced Technology, Rockwell Automation,
Milwaukee, WI. Her research interests include power
converters for variable-speed ac drive systems and
motor control.
Thomas A. Nondahl (S’73–M’77–SM’96–F’02)
received the B.S., M.S., and Ph.D. degrees in elec-
trical engineering from the University of Wisconsin,
Madison.
After graduation, he was with GE’s Corporate Re-
search and Development Center, Schenectady, NY,
and spent four years analyzing and designing elec-
trical machines. In 1981, he moved to Milwaukee,
WI, as a Senior Project Engineer in Allen-Bradley’s
Corporate Technology Development group. During
the next six years, he developed technology used in
four ac and dc drive products. In 1987, he transferred to the Drives product
group and continued work on motor drives, electrical machines, and digital
communications. He returned to Milwaukee in 1996, as a Research Manager
of the Advanced Technology Milwaukee Labs. Since 1996, he has conducted
research projects in areas such as permanent-magnet motor control, real-time
digital communication, inverters for induction motors, and control of ac servo
drives. He is the holder of 14 U.S. patents.
Dr. Nondahl is a Registered Professional Engineer in the State of Wisconsin.
He joined the IEEE Industry Applications Society in 1981. He has served
multiple roles within the society, including Electric Machines Committee
(EMC) Chair, Society Treasurer, Annual Meeting Chair, and Society President.
He was honored as a Rockwell Engineer of the Year in 1988.
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Peter B. Schmidt (M’79) received the B.S. and M.S.
degrees in physics from John Carroll University,
Cleveland, OH, in 1977 and 1979, respectively, the
M.S. degree in electrical engineering and computer
science from Marquette University, Milwaukee, WI,
in 1984, and the Ph.D. degree in electrical engineer-
ing from the University of Wisconsin, Madison, in
1991.
He started working for the Allen-Bradley Com-
pany (A-B) in Corporate Research and Design, Mil-
waukee, WI, in 1979. The majority of his research
projects were centered on research and development in factory automation,
specifically in the areas of robotics and computer vision. When A-B was pur-
chased by Rockwell Automation, he stayed with the company as the corporate
R&D function was transformed into the Advanced Technology Laboratory. He
continues to work in the areas of motion control, process control, and tuning.
His major fields of study included automatic control systems and energy/power
systems.
Semyon Royak (SM’03) was born in Novosi-
birsk, Russia, in 1944. He received the B.S. and
M.S. degrees in 1966 and the Ph.D. degree in
1974 from Novosibirsk Electrotechnical University,
Novosibirsk, Russia.
He began his career as an Assistant Professor at
Novosibirsk Electrotechnical University in 1967 and
became an Associate Professor in 1976. He joined
Reliance Electric as a Development Engineer in 1990
and Rockwell Automation in 1995. Recently, he
was promoted to an Engineering Fellow position.
Working in the field of ac and dc motor control and power conversion, he
has most recently been involved in research and development of the control
design of interior permanent-magnet sensor and sensorless drives for traction
and underground oil pump applications and control for active front rectifiers
under unbalanced voltage-source condition. He is the holder of a number of
Russian and U.S. patents in the field of ac and dc motor control.
Dr. Royak has been the recipient of a number of invention awards from
Rockwell Automation.
Mark Harbaugh (M’01) received the B.S. and M.S.
degrees in electrical engineering and applied physics
from Case Western Reserve University, Cleveland,
OH, in 1987 and 1992, respectively.
He has been a member of the drives development
group of Rockwell Automation, Cleveland, since
1996. His duties include firmware, hardware, and
control engineering development for both standard
and custom drive products. His research interests
have been in the areas of sensorless torque control
of ac induction motors and the control of permanent-
magnet motors.
Mr. Harbaugh has been the recipient of several patent and innovation awards
during his tenure at Rockwell Automation.