5604 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 70, NO.
6, JUNE 2023
Continuous Rotor Position Estimation for Flux
Modulated Doubly Salient Reluctance Motor
Drives Based on Back EMF Harmonics
Zhiyue Yu , Student Member, IEEE, Chun Gan , Senior Member, IEEE, Kai Ni , Member, IEEE,
Mao Xin, Yu Chen , Student Member, IEEE, and Ronghai Qu , Fellow, IEEE
Abstract—DC-biased sinusoidal current excited flux
modulated doubly salient reluctance motor (FMDRM) drives
are developed to reduce the torque ripple and vibration of
doubly salient reluctance motors (DRMs). Conventionally,
because of the discontinuous quasi-square current excita-
tion, the rotor position of DRMs is estimated by the combi-
nation of piecewise estimation of phase angle information
for each phase, where the continuous position estimation
for the novel FMDRM drives cannot be realized. To solve
this issue, this article proposes a continuous rotor posi-
tion estimation strategy for FMDRM drives based on back
electromotive force (back EMF) harmonic characteristics.
First, the back EMF harmonics caused by the rotor saliency
and their relationship with the rotor position are analyzed in
detail. Then, the corresponding harmonic current regulator
and quadrature signal generator are investigated to achieve
harmonic current suppression and obtain the quadrature
harmonic back EMF components in the rotating reference
frame for rotor position estimation simultaneously. Further-
more, a virtual-inductance-based method is developed to
calibrate the phase angle offset between the estimated and
actual rotor positions. With the proposed scheme, accurate
continuous rotor position estimation can be achieved with-
out any additional hardware. Experimental validations are
presented on a three-phase 12/8 FMDRM prototype to ver-
ify the accuracy of the proposed rotor position estimation
scheme.
Manuscript received 3 March 2022; revised 14 July 2022; accepted 24
July 2022. Date of publication 10 August 2022; date of current version
23 January 2023. This work was supported in part by the National
Natural Science Foundation of China under Grants 52177043 and Grant
51907073, in part by the Hubei Provincial Natural Science Foundation
of China under Grant 2021CFA076, in part by the Knowledge Innova-
tion Program of Wuhan-Basic Research under Grant 20221573, and
in part by the Applied Basic Frontier Program of Wuhan under Grant
2020010601012207. (Corresponding author: Kai Ni.)
Zhiyue Yu, Chun Gan, Kai Ni, Yu Chen, and Ronghai Qu are
with the State Key Laboratory of Advanced Electromagnetic Engi-
neering and Technology, School of Electrical and Electronic Engi-
neering, Huazhong University of Science and Technology, Wuhan
430074, China (e-mail: zhiyueyu@hust.edu.cn; chungan@hust.edu.cn;
nikai@hust.edu.cn; cy_huster@hust.edu.cn; ronghaiqu@hust.edu.cn).
Mao Xin is with the Zhejiang Xizi Forvorda Electrical Machinery Com-
pany Ltd., Hangzhou 311305, China (e-mail: xin.mao@hzforward.com).
Color versions of one or more figures in this article are available at
https://doi.org/10.1109/TIE.2022.3196378.
Digital Object Identifier 10.1109/TIE.2022.3196378
0278-0046 © 2022 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
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Index Terms—Back electromotive force (back EMF), flux
modulated doubly salient reluctance motor (FMDRM), har-
monic characteristics, position estimation, virtual induc-
tance calculation.
I. INTRODUCTION
ITH the continuous development of modern industrial
W technology, the doubly salient reluctance motor (DRM)
drives have been widely concerned and recognized by aca-
demic researchers and the industrial applications due to the
rare-earth-free motor structure, high reliability, high efficiency,
high starting torque, and wide speed range [1]–[4].
To achieve the high-precision DRM control, the rotor position
is essential [5]. In conventional DRM drives, the phase windings
are excited by discontinuous unipolar quasi-square waveform
currents, and the rotor position is utilized to calculate the rotor
speed and guide the phase commutation logic [6]–[8]. To achieve
accurate rotor speed sampling, the position sensors installed
on the rotor shaft are required, such as the interface encoder,
magnetic encoder, and resolver. However, the position sensors
will increase the cost and volume of the motor drive. Besides, the
reliability of the motor drive will also be affected. Therefore, it
is necessary to investigate the rotor position estimation strategy
for DRM drives [9], [10].
Because of the rotor saliency of DRM, the rotor position
information is contained in the phase flux-linkage, phase induc-
tance, and other electromagnetic parameters. However, since
there is neither excitation winding nor permanent magnet, all
the electromagnetic parameters are observable only when the
phase winding is excited. Since the phase currents are discon-
tinuous, the continuous position estimation cannot be achieved
in conventional DRM drives. Instead, the rotor position is
obtained by estimating the electric angle of each phase and
combining these piecewise phase angles. According to the phase
angle estimation method, the rotor position estimation schemes
can be divided into two groups, i.e., the idle-phase-based and
conducting-phase-based schemes.
In the idle-phase-based schemes, the rotor position estimation
is achieved in turn-OFF regions. High-frequency voltage pulses
are injected into the idle phase, where the phase inductance of
the idle phase can be calculated according to the pulse current
[11]–[15]. Then, the rotor electric angle of the idle phase is
 YU et al.: CONTINUOUS ROTOR POSITION ESTIMATION FOR FLUX MODULATED DOUBLY SALIENT RELUCTANCE MOTOR DRIVES
estimated according to the calculated phase inductance. Then,
the rotor position is obtained by combining the rotor electric
angles of each idle phase. However, with the high-frequency
pulse injection, there will be pulse currents in the turn-OFF re-
gion, which results in negative torque generation and additional
switching loss. Hence, the efficiency of the DRM drives will
be affected. Besides, with the increase of the rotor speed and
the rotor teeth number, the turn-OFF region will be shortened,
where the inductance calculation accuracy is reduced. Therefore,
the idle-phase-based schemes are only suitable for low-speed
operations.
To avoid the side-effects caused by the high-frequency pulse
injection, the conducting-phase-based schemes are put forward,
where the rotor position is observed in turn-ON regions of each
phase. In [16]–[19], the rotor position is estimated according
to the phase current waveform. In low-speed conditions, by
calculating the rising time of phase current, the aligned position
is determined for position estimation [16], [17]. In high-speed
conditions, the current changing rate is utilized to determine
the position where the stator and rotor teeth begin to overlap
[18], [19]. However, the current waveform method can only
identify several certain feature rotor position points in each
fundamental period, and the rest pieces of the rotor position
information are estimated by the rotor speed and running time
with the assumption of a constant rotor speed, leading to low
rotor position estimation accuracy.
In [20], the flux-linkage characteristic method is investigated.
According to the sampled phase current, the phase flux-linkage
is online calculated and the rotor position can be obtained
according to the flux-linkage and prestored electromagnetic
characteristics. However, large storage memory is required. In
addition, several flux-linkage characteristic simplification meth-
ods are presented in [21]–[23], where only the flux-linkage
characteristics of several feature points are required. Never-
theless, the offline electromagnetic characteristic measurement
is complicated and lacks universality. The intelligent fitting
algorithms, such as the fuzzy logic [24] and the neural net-
work [25] are utilized to replace the prestored electromagnetic
characteristics. However, fuzzy logic and offline training of
the neural network significantly increase the computational
complexity.
The inductance model methods are investigated in [26]–[28],
where the rotor position can be estimated by calculating the
inductance of the conducting phase and fitting the phase induc-
tance with several mathematical models. However, due to the
uncertainty of the wiring resistance and the voltage drop of the
power device, there are random errors in the calculated phase
inductance, which affects rotor position estimation accuracy.
In addition, due to the nonlinearity of the silicon steel, the
inductance waveform will be significantly distorted due to the
local saturation effect in heavy load conditions, which will
cause a large rotor position estimation error. To deal with the
parameter uncertainty, the online calibration method is presented
in [29], where the influence of the parameter uncertainty on the
position estimation error and corresponding calibration method
are investigated. In [30], the mapping relationship between
the unsaturated and saturated inductance is investigated, where
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5605
Fig. 1. Diagram of the motor structure and drive topology of the FM-
DRM drive. (a) FMDRM structure. (b) Open-winding converter topology.
the side-effect of the magnetic saturation on the rotor position
estimation can be avoided.
Apart from the conventional quasi-square current excited
DRM drives, the flux modulated DRM (FMDRM) drives are
presented to deal with the inherent torque ripple and vibration
problems [31], [32]. By developing the novel dc-biased sinu-
soidal current excitation scheme, the torque ripple and vibration
can be effectively suppressed without modifying the motor
structure. However, in the FMDRM drives, phase currents are
continuous and the three-dimensional (3-D) dq0-axis current
control requires a continuous rotor position signal. Hence, both
the idle-phase-based and conducting-phase-based schemes for
conventional DRM drives cannot be utilized in the FMDRM
drives since the position estimation is piecewise and discon-
tinuous. Therefore, it is essential to develop continuous rotor
position estimation schemes for FMDRM drives.
To achieve the continuous rotor position estimation, in this
article, a novel sensorless rotor position estimation is proposed
for FMDRM drives based on the back electromotive force (back
EMF) harmonics. Due to the rotor saliency, the phase back EMF
contains plenty of harmonic components, which reflect the rotor
position information. First, the harmonic back EMF components
are investigated together with their phase angle characteristics.
Second, the harmonic current controller is investigated, which
can not only suppress the harmonic current components caused
by the back EMF harmonics but also obtain the harmonic
back EMFs in the rotating reference frame for rotor position
estimation. Third, the quadrature signal generator is developed
to obtain the quadrature signal of the harmonic back EMF
in the rotating reference frame to calculate the rotor position.
Moreover, the three-phase virtual inductances are online cal-
culated, and the corresponding closed-loop calibration method
is put forward to calibrate the phase angle offset of the back
EMF harmonics. With the proposed scheme, the real-time rotor
position estimation can be achieved accurately and continuously
instead of the combination of piecewise estimations of each
phase in conventional schemes. Neither additional hardware nor
motor electromagnetic characteristics are required.
II. FMDRM DRIVES
A. Motor Structure and Drive Topology
The structure of the three-phase 12/8 FMDRM is shown in
Fig. 1(a), which is composed of salient stator and rotor and stator
winding. The stator and rotor are made of silicon steel, and there
 5606 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 70, NO. 6, JUNE 2023

are neither winding coils nor permanent magnets on the rotor.

The concentrated winding coils on the stator teeth are connected
in series or parallel to constitute the three-phase windings. It
can be seen that the structure of the FMDRM is similar to
the conventional DRMs. The major differences between the
conventional DRM and the FMDRM are the working principle
and the control scheme. Based on the flux modulation principle,
the stator winding of FMDRM is excited by the dc-biased sinu-
soidal current. In a word, once the novel flux-modulated control
scheme is developed, the DRM can be renamed the FMDRM for Fig. 2. FEA results of the phase back EMF under different phase
clear distinction and better understanding. Fig. 1(b) shows the currents. (a) Phase back EMF waveforms. (b) Harmonic analysis results.
drive topology of FMDRM. To realize the dc-biased sinusoidal
current excitation, the open-winding converter is utilized, which
is composed of two modular converters. The stator windings are where ea , eb , and ec are the back EMF of phases A, B, and C,
connected between the two modular converters to achieve the respectively. Ek and αk are the amplitude and initial phase angle
flow path of the zero-sequence current. The dc-biased sinusoidal of the kth order harmonic back EMF component, respectively. θe
current excitation is achieved by the cooperative control of two is the rotor electric angle. It should be noted that the initial rotor
modular converters. position in this article is the aligned position of phase A, which is
shown in Fig. 1(a). Although the phase back EMF is not highly
B. Back EMF Characteristics sinusoidal, the novel dc-biased sinusoidal current excitation
Due to the symmetric magnetic circuit structure, the mutual scheme can also achieve better overall motor performance since
coupling between phase windings can be neglected. Hence, the the current harmonics are significantly reduced compared to that
voltage equation of each phase is given by in the conventional quasi-square current excited DRM drive.

dψn d C. Motor Control Scheme

u n = R s in + = Rs in + (Ls in ) (1)
dt dt
The field-oriented vector control is developed for the FM-
where Rs is the stator resistance, Ls is the self-inductance, un ,
DRM to achieve the dc-biased sinusoidal current excitation
in , and ψ n are the voltage, current, and flux-linkage of phase
[31]–[33]. The reference value of the phase current root mean
N, respectively. For the FMDRM, the salient rotor can be re-
square (rms) value is obtained by a closed-loop speed regulator
garded as the flux modulator, which provides the flux modulation
according to the reference and actual rotor speeds. Then, to max-
effect to generate the rotating air-gap magnetic field. Due to
imize the output torque capability, the 3-D current component
the doubly salient structure, the air-gap permeance contains
distribution scheme in [34] is employed, where the reference
plenty of harmonic components. These harmonics will lead to
dq0-axis currents are calculated according to the reference phase
air-gap harmonic magnetic fields during the flux modulation
current rms value. In addition, to eliminate the disturbance of the
process. Then, according to the Faraday law of electromagnetic
back EMF distortion, the harmonic current regulator is utilized
induction, the mathematical equation of the phase back EMF is
to achieve accurate dq0-axis current control. Furthermore, the
presented in [33]. It is proved that the phase back EMF contains
reference voltages of two modulator converters are obtained
plenty of harmonic components, and the harmonic order of the
by the 3-D voltage distribution method in [31]. The SVPWM
phase back EMF is equal to that of the rotor side permeance
scheme is then utilized to generate the switching signals. During
harmonic. Therefore, the doubly salient structure is the major
the motoring operation, the coordinate transformation between
source of the back EMF harmonics. In addition, the armature
the abc-axis and dq0-axis is necessary, where the continuous
reaction caused by the ac current component also intensifies the
rotor position is required. Therefore, it is important to evaluate
back EMF distortion.
the continuous rotor position estimation scheme for the FMDRM
The back EMF will indeed vary with the rotor position and
drive.
the phase current. In addition, the magnetic saturation effect also
affects the back EMF distribution. For verification, finite element
III. RELATIONSHIP BETWEEN BACK EMF HARMONICS AND
analysis (FEA) results of the load back EMF and corresponding
ROTOR POSITION
harmonic analysis are shown in Fig. 2. It can be seen that
the three-phase back EMFs are significantly distorted since the In the proposed scheme, the rotor position estimation is
fundamental and multiple harmonic components are superposed. achieved according to the back EMF harmonic characteristics.
Besides, the amplitudes of back EMF harmonics vary with the As shown in Fig. 2(b), the second-order component is always
phase current. the dominant component apart from the fundamental component
Therefore, by using the Fourier series analysis, the three- regardless of the amplitude of the phase current, which can be
phase back EMFs can be expressed as expressed as
⎧ ∞ ⎧
⎨ ea = −  k=1 Ek sin [k(θe ) + αk ] ⎨ ea2 = −E2 sin (2θe + α2 )
eb = − ∞ k=1 Ek sin [k(θe − 2π/3) + αk ] (2) eb2 = −E2 sin (2θe + 2π/3 + α2 ) . (3)
⎩ ⎩
ec = − ∞ k=1 Ek sin [k(θe + 2π/3) + αk ] ec2 = −E2 sin (2θe − 2π/3 + α2 )

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 YU et al.: CONTINUOUS ROTOR POSITION ESTIMATION FOR FLUX MODULATED DOUBLY SALIENT RELUCTANCE MOTOR DRIVES 5607

With the flux modulated operation principle analyzed in [31],

the dc-biased sinusoidal current excitation scheme is developed,
where the stator current can be regarded as the superposition of
the dc excitation current and the ac armature current [35]. To
realize the decoupled current control, the 3-D current control
scheme is commonly utilized, where phase currents are trans-
ferred into the fundamental rotating reference frame according
Fig. 3. Block diagram of the closed-loop current control scheme.
to the coordinate transformation matrix as follows:
⎡ ⎤
cos (θe ) cos (θe − 2π/3) cos (θe + 2π/3)
2⎣ ⎧
C= − sin (θe ) − sin (θe − 2π/3) − sin (θe + 2π/3) ⎦ .
3 ⎨ a1 = E2 cos α2 + E4 cos α4
1/2 1/2 1/2
b1 = E2 sin α2 + E4 sin α4 (10)
(4) ⎩
ϕ1 = arctan(b1 /a1 )
With (3) and (4), the second-order harmonic back EMF in the
⎧
fundamental rotating reference frame can be given by ⎨ a2 = E2 sin α2 − E4 sin α4
⎧ b2 = −E2 cos α2 + E4 cos α4 . (11)
⎨ ed2 = −E2 sin (3θe + α2 ) ⎩
eq2 = −E2 cos (3θe + α2 ) (5) ϕ2 = arctan(b2 /a2 )
⎩
e02 = 0 It can be seen from (9)–(11) that, although the third-order
where ed2 , eq2 , and e02 are the d-axis, q-axis, and 0-axis back EMF harmonics in the dq-axis have different amplitudes
components caused by the second-order harmonic back EMF, and phase angles, both of them contain the continuous rotor
respectively. The second-order harmonic phase back EMF will position information. Hence, if one of the dq-axis back EMF
cause third-order harmonic back EMF components in the dq- harmonics is obtained, the continuous rotor position estimation
axis, while the 0-axis is not affected. can be achieved by extracting its phase angle information. In
In addition to the second-order component, the fourth-order addition, it can be seen from (9)–(11) that both the amplitudes
harmonic phase back EMF will also cause the third-order har- and initial phase angles of the dq-axis third-order back EMF
monic back EMF components in the dq-axis. According to (2), harmonics are determined by the second and fourth-order phase
the fourth-order phase back EMF can be expressed as back EMF harmonics. Hence, both these harmonics should be
⎧ considered in the rotor position estimation. Furthermore, since
⎨ ea4 = −E4 sin (4θe + α4 ) the phase back EMF harmonics will vary with the operating
eb4 = −E4 sin (4θe − 2π/3 + α4 ) . (6) condition, it is impossible to obtain the analytical equation of
⎩
ec4 = −E4 sin (4θe + 2π/3 + α4 ) the third-order back EMF harmonics in the dq-axis directly.
Similarly, with (4) and (6), the fourth-order harmonic back Therefore, it is essential to develop the online extraction method
EMF in the fundamental rotating reference frame can be given to obtain the third-order back EMF harmonics in the dq-axis
by for rotor position estimation, which will be introduced in the
⎧ following section.
⎨ ed4 = −E4 sin (3θe + α4 )
eq4 = E2 cos (3θe + α4 ) (7)
⎩ IV. PROPOSED ROTOR POSITION ESTIMATION STRATEGY
e04 = 0
where ed4 , eq4 , and e04 are the d-axis, q-axis, and 0-axis A. Back EMF Harmonics Extraction
components caused by the fourth-order harmonic back EMF, Conventionally, observers are utilized to obtain the back EMF
respectively. The fourth-order harmonic phase back EMF will [36]. However, for the FMDRM, due to the air-gap multihar-
also cause the third-order harmonic back EMF components in the monic characteristic, the back EMF harmonics are the com-
dq-axis. According to the superposition principle, the third-order binations of those with multiple frequencies, which cannot be
harmonic back EMF in the dq-axis caused by the second- and observed individually. In addition, the utilization of observers
fourth-order back EMF harmonics can be expressed as significantly increases the computational complexity of the con-
⎧ trol system. Therefore, in this article, the back EMF harmonics
⎪
⎪ ed3 = −[(E2 cos α2 + E4 cos α4 ) sin (3θe )
⎨ in the dq-axis are obtained by reutilizing the harmonic current
+ (E2 sin α2 + E4 sin α4 ) cos (3θe )]
(8) regulators to reduce the computational burden.
⎪
⎪ eq3 = [(E2 sin α2 − E4 sin α4 ) sin (3θe )
⎩ In general, to achieve the dc-biased sinusoidal current exci-
+ (−E2 cos α2 + E4 cos α4 ) cos (3θe )]
tation, the 3-D decoupled current control scheme is employed,
where ed3 and eq3 are the d-axis and q-axis third-order harmonic where the three-phase currents are transferred to the fundamental
back EMF, respectively. In addition, based on the auxiliary angle rotating reference frame according to the matrix in (5). The
formula, the dq-axis third-order back EMF harmonics can be block diagram of the closed-loop current control scheme in the
further simplified, given by FMDRM drive is shown in Fig. 3, where e is the back EMF, idq0
  and udq0 are the current and voltage in the dq0-axis, respectively.
ed3 = − a21 + b21 sin (3θe + ϕ1 )
 (9) The superscript “∗” represents the reference values. It can be
eq3 = a22 + b22 sin (3θe + ϕ2 ) seen that the back EMF can be regarded as the disturbance of

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 5608
Fig. 4. Harmonic current regulator. (a) Block diagram of the harmonic
current regulator. (b) Bode diagram of the closed-loop current controller
with the harmonic regulator.
the closed-loop current controller, which will affect the current
control accuracy.
With the matrix in (5), the fundamental current, voltage,
and back EMF components are transferred into the dc com-
ponents, while the back EMF harmonics are transferred into the
third-order harmonic components, as mentioned in Section III.
Hence, the current controller should have the accurate high-
frequency signal regulation ability. Otherwise, the third-order
harmonic components will cause significantly harmonic current
components, which will lead to additional torque ripple, radial
vibration, and power losses [31].
To eliminate the harmonic current components caused by
back EMF harmonics, the vector-proportional-integral-based
harmonic current regulator is developed. The block diagram of
the harmonic current regulator is shown in Fig. 4(a) and the
transfer function can be expressed as [33]
Ki Kpr s2 + Kir s
Gr (s) = Kp + + 2
 s
s + ωb + ω0
2 the next step is to extract the phase angle information from one
(a)
(b)
where Kp , Ki , Kpr , and Kir represent the proportional, integral,
second-order resonant, and first-order resonant coefficients, re-
spectively. s is the Laplace operator. ω b and ω 0 are the bandwidth
frequency and resonant frequency, respectively. As shown in
(12), the harmonic current regulator contains two parts, i.e.,
the proportional-integral (PI) part and the resonant part. The
PI part is the same as the conventional PI regulator, which can
achieve the dc signal regulation ability in the dq-axis and ensure
the accurate control of the fundamental current components.
Meanwhile, part (b) is the resonant part, which can achieve the
regulation ability of the resonant-frequency signals for harmonic
current suppression.
With the harmonic current regulator, the bode diagram of the
closed-loop current controller of the FMDRM drive is shown in
Fig. 4(b), where the resonant frequency is set as 600 Hz, which
is three times the fundamental frequency of the FMDRM at the
rated speed. It can be seen that the 0 dB magnitude gain and
the 0° phase angle response can be achieved for both the dc and
resonant-frequency signals with the harmonic current controller.
When the resonant frequency of the harmonic current regulator
is set to be three times the fundamental frequency, the reference
tracking accuracy of the dq0-axis current can be ensured and
the harmonic current components caused by the back EMF
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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 70, NO. 6, JUNE 2023
Fig. 5. Block diagram of the quadrature signal generator.
distortion can be eliminated. It should be noticed that, with the
variation of the rotor speed, the fundamental frequency of the
FMDRM is also changed. Therefore, the resonant frequency of
the harmonic current regulator should be changed accordingly.
According to the bode diagram in Fig. 4(b), the disturbance
caused by the back EMF is compensated by the resonant part
of the harmonic current controller. In this condition, the output
signals of part (b) in (12) can be regarded as the third back EMF
harmonics in the dq-axis, which can be utilized for rotor position
estimation. In conclusion, once the current harmonics caused
by the back EMF harmonics are effectively suppressed by the
harmonic current regulator, the third harmonic components in
the dq-axis back EMF can be accurately obtained by the resonant
part in the harmonic current regulator regardless of the back
EMF amplitude variation and the magnetic circuit saturation
effect, which means that additional back EMF observers are not
required and the computational complexity is not increased.
B. Quadrature Signal Generation and Rotor Position
Estimation
When the back EMF harmonics in the dq-axis are obtained,
(12)
of them and calculate the rotor position according to this phase
angle information. To achieve the phase angle extraction, the
quadrature signals of the dq-axis back EMF harmonics should
be obtained. To solve this issue, the quadrature signal generator
is developed to obtain the quadrature signals of the dq-axis back
EMF harmonics, as shown in Fig. 5. In addition, the transfer
functions of the quadrature signal generator in the s domain can
be expressed as [37]
⎧
⎨ G(s) = y(s) = 2 Kωn s 2
u(s) s +Kωn s+ωn
(13)
⎩ Gq (s) = y (s) Kωn2
u(s) = s2 +Kωn s+ω 2
q
n
where y(s) is the output signal with the same phase angle with
the input signal u(s), while yq (s) is the output signal orthogonal
to the y(s). In addition, to further investigate the characteristics
of the quadrature signal generator, the bode diagrams of the
two transfer functions in (13) are shown in Fig. 6, where ω n
is set as 600 Hz. It can be seen from Fig. 6(a) that the transfer
function G(s) has the same characteristics as a bandpass filter,
where the magnitude gain and phase angle response are 0 dB
and 0° at the frequency of ω n , respectively. Hence, the output
signal y(s) is the component of the input signal u(s) with the
frequency of ω n . Meanwhile, the transfer function Gq (s) has
similar characteristics as a low-pass filter, where the magnitude
gain and phase angle response are 0 dB and -90° at the frequency
 YU et al.: CONTINUOUS ROTOR POSITION ESTIMATION FOR FLUX MODULATED DOUBLY SALIENT RELUCTANCE MOTOR DRIVES
Fig. 6. Bode diagram of the quadrature signal generator. (a) Bode
diagram of G(s). (b) Bode diagram of Gq (s).
of ω n , respectively. Hence, the output signal yq (s) is the signal
orthogonal to y(s) and has the same magnitude. Therefore, once
the amplitudes of dq-axis third-order back EMF harmonics
change with the phase current, the amplitudes of corresponding
quadrature signals will change accordingly, which ensures that
the rotor position estimation scheme is not affected by the
variation of the back EMF amplitude.
In general, both the d-axis and q-axis back EMF harmonics
can be utilized for the rotor position estimation. In this article,
the q-axis harmonic back EMF is utilized as an example. When
the harmonic current components are effectively suppressed,
the output voltage of the resonant part in the q-axis current
regulator uq3 can be obtained, whose frequency is equal to the
resonant frequency ω 0 . In this condition, if uq3 is set as the
input signal of the quadrature signal generator, and ω n is set to
be the same as the resonant frequency ω 0 , the q-axis third-order
back EMF harmonic eq3 and corresponding quadrature signal
eq3q can be obtained with the quadrature signal generator,
which corresponds to the output signals y and yq , respectively.
Therefore, since eq3 and eq3q always have the same amplitudes
with the quadrature signal generator, the phase angle of eq3 can
be observed according to the trigonometric calculation without
distortion even considering the back EMF amplitude variation,
which can be expressed as
θe3_est = arctan(eq3q /eq3 ).
In addition, according to the mathematical equation of the
dq-axis back EMF harmonics in (9), the frequency of θe3_est is
three times the frequency of the rotor electric position and the
relationship between the rotor electric position and the estimated
phase angle of eq3 can be given by
θe3_est = 3θe + ϕ2 (0 ≤ θe3_est ≤ 2π).
Hence, with the frequency division calculation, the rotor
position can be estimated according to θe3_est . However, as
shown in (15), there is still a phase angle offset between the
estimated and real rotor positions due to the initial phase angle
ϕ2 , and the estimated rotor position can be given by
θe_est = θe + θe_offset
where θe_est is the estimated rotor position and θe_offset is the
offset error of the estimated rotor position. As shown in Fig. 2,
the ratio between the amplitudes of the second- and fourth-order
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5609
Fig. 7. FEA results of the self-inductance and mutual-inductance un-
der different current levels. (a) Self-inductance of phase A. (b) Mutual-
inductance between phases A and B.
back EMF harmonics varies with the phase current, and the offset
error is also changed with the operation condition, which cannot
be directly obtained by analytical calculations. Therefore, the
corresponding online position offset calibration method should
be investigated, which is developed in the following part.
C. Closed-Loop Position Offset Calibration
Because the FMDRM has a salient rotor structure, the air-gap
permeance at each point changes as the rotor rotates. At the
aligned points of each phase, the corresponding phase induc-
tances reach the maximum value. On the contrary, the phase
inductances reach the minimum value at the unaligned points.
Hence, the phase inductances of the FMDRM change periodi-
cally, which can be utilized to calibrate the position offset caused
by the initial phase angle ϕ2 .
According to Fig. 1(b), each phase winding is connected
between two corresponding converter legs. Hence, when the
duty ratios of each converter leg are determined by the FMDRM
drive, the virtual phase voltages can be expressed as
Un = Udc (Dn1 − Dn2 ) (17)
where Un is the virtual phase voltage of phase N, Dn1, and Dn2
are the duty ratios of the leg n1 and n2 in Fig. 1(b), respectively.
Then, according to the voltage equation in (1), the virtual flux-
(14) linkage of phase N can be calculated by

Ψn = (Un − Rs in )dt. (18)
With the virtual flux-linkage, the virtual inductance of phase
N can be given by
Ln = Ψn /in . (19)
(15)
FEA results of the self-inductance under different current
levels are shown in Fig. 7(a). It can be seen that self-inductance
is mainly composed of the dc and fundamental components.
In addition, with the increase of the current level, the self-
inductance is more sinusoidal. Hence, it is reasonable to neglect
the high-order self-inductance components and establish the
(16) first-order Fourier series self-inductance model, given by
⎧
⎨ La = Ldc + L1 cos (θe )
Lb = Ldc + L1 cos (θe − 2π/3) (20)
⎩
Lc = Ldc + L1 cos (θe + 2π/3)
 5610
Fig. 8. Diagram of the three-phase currents and the virtual
inductances.
where Ldc and L1 are the amplitudes of the dc and fundamental
components of the virtual inductance, respectively.
Due to the forward voltage drops of the power devices, there
will be offset errors in the virtual phase voltages. Besides, there
are also errors in the phase resistance due to the temperature
rising during the operating process. With the integration in (18),
the errors above cause a unipolar linear error in the virtual flux-
linkage, which leads to a linear error in the virtual inductance.
However, with the first-order Fourier series inductance model in
(20), both the actual value and the calculation error are regarded
as a first-order series. It is proved in [29] that with the Fourier
series fitting, the linear error in the calculated inductance has
little effect on the rotor position estimation. Therefore, the offset
calibration accuracy will not be affected.
In addition, because of the dc-biased sinusoidal current ex-
citation, the phase currents of the FMDRM are continuous.
Hence, the integration calculations of the virtual flux-linkage
are continuous rather than piecewise, where the linear error
in the virtual flux-linkage will accumulate. However, because
the FMDRM has a symmetric magnetic circuit structure, the
magnitude of the mutual-inductance is much smaller than that
of the self-inductance, as shown in Fig. 7(b). Hence, the mutual
coupling between phase windings can be neglected, and the
virtual flux-linkage is 0 when the corresponding phase current is
0. Therefore, the error accumulation caused by the continuous
virtual flux-linkage integration can be eliminated by resetting
the integrators to 0 at zero-crossing points of the phase currents.
Furthermore, since the phase currents in the FMDRM drive
are bipolar, the calculated virtual inductances will approach
infinity around the zero-crossing points of the phase currents,
which should be abandoned. Therefore, the diagram of the phase
currents and the calculated virtual inductances is shown in Fig. 8.
It can be seen that there are three inductance overlapping regions
in each fundamental period of phase currents, where three-phase
virtual inductances can be obtained simultaneously.
When the estimated rotor position is obtained, the virtual
inductances can be transferred into the dq-axis with the trans-
formation matrix in (5), where the actual rotor position θe in (5)
is replaced by the estimated rotor position θe_est with a phase
angle offset θe_offset , given by
⎧ in the q-axis and the corresponding quadrature back EMF signal
⎨ Ld = L1 cos (θe_offset )
Lq = −L1 sin (θe_offset ) . (21)
⎩
L0 = Ldc
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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 70, NO. 6, JUNE 2023
Fig. 9. Block diagram of the proposed closed-loop position offset cali-
bration method.
Fig. 10. Block diagram of the proposed position estimation scheme.
It can be seen that, if the phase angle offset is completely com-
pensated, the q-axis virtual inductance will be equal to 0. Other-
wise, it will be a constant value determined by θe_offset . Based
on this phenomenon, a closed-loop online calibration method
is developed to compensate the phase angle offset, as shown in
Fig. 9. In the inductance overlapping regions, the q-axis virtual
inductance is obtained and a closed-loop controller is developed
to generate the phase angle offset and ensure that the q-axis
virtual inductance is 0 after the coordinate transformation. As
analyzed above, the q-axis virtual inductance is a dc component.
Hence, the PI regulator is utilized for closed-loop calibration due
to its sufficient dc signal regulation ability and computational
simplicity. With the proposed closed-loop calibration method,
the phase angle offset between the estimated and real rotor
positions can be effectively compensated, which means that the
phase back EMF variation in Fig. 2 will not affect the rotor po-
sition estimation in the proposed scheme. It should be noted that
both the coordinate transformation and closed-loop regulation
are only enabled in the inductance overlapping regions in the
proposed scheme. Therefore, the abandoned inductances in the
non-overlapping regions in Fig. 8 will not affect the accuracy of
the proposed offset calibration scheme.
D. Overall Position Estimation Scheme
The block diagram of the proposed rotor position estimation
strategy is shown in Fig. 10. The harmonic current controller is
responsible for suppressing the harmonic current components
and generating the dq0-axis reference voltage. Besides, the
harmonic voltage components are also generated by the resonant
part of the harmonic current controller for rotor position estima-
tion. In addition, the third-order back EMF harmonic component
are obtained by the developed quadrature signal generator in
Fig. 5 according to the q-axis harmonic voltage generated by the
resonant part of the harmonic current controller. Furthermore,
 YU et al.: CONTINUOUS ROTOR POSITION ESTIMATION FOR FLUX MODULATED DOUBLY SALIENT RELUCTANCE MOTOR DRIVES
TABLE I
PROTOTYPE PARAMETERS
Fig. 11. Experimental setup.
with the quadrature harmonic back EMF signals, the phase angle
of the q-axis thid-order back EMF harmonic can be extracted by
the trigonometric calculation, and the continuous rotor position
estimation can be achieved by the frequency division calculation.
Furthermore, to compensate the phase angle offset between
the estimated and real rotor positions caused by the initial
phase angle of back EMF harmonics in the stationary ref-
erence frame, the three-phase virtual inductances are online
calculated according to the sampled three-phase currents and
the duty ratios of each converter leg. Then, in the overlapping
regions of the virtual inductances, the phase angle offset can
be obtained by the developed closed-loop calibration method
mentioned in Section IV-C, which ensures the accuracy of the
proposed continuous rotor position estimation scheme. More-
over, the estimated rotor speed can be derived according to
the estimated rotor position after offset calibration. With the
proposed scheme, accurate rotor position estimation can be
achieved in various operation conditions, and the estimation
accuracy is not affected by the back EMF variation and saturation
effect.
V. EXPERIMENTAL VALIDATION
In order to validate the effectiveness of the proposed rotor
position estimation strategy, experimental results are carried
out on a three-phase FMDRM prototype. The main parameters
of the FMDRM prototype are listed in Table I. Besides, the
overall experimental setup is shown in Fig. 11. The real-time
experimental waveforms are recorded by a multichannel isolated
oscilloscope. The open-winding converter is constructed by
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5611
Fig. 12. Experimental waveforms of three-phase currents, dq-axis cur-
rents, and dq-axis third-order harmonic voltage components obtained by
the harmonic current controller. (a) 500 r/min. (b) 1500 r/min.
Fig. 13. Experimental waveforms of estimated quadrature harmonic
back EMF components, estimated third-order electric angle, estimated
rotor position, measured rotor position, and position estimation error
without the proposed calibration method. (a) 500 r/min. (b) 1500 r/min.
commercial half-bridge IGBT power modules. The switching
frequency of the power switches is set as 10 kHz. The dc-link
voltage is 100 V and is provided by a programmable dc voltage
source. The three-phase currents are measured by the hall-effect
current sensors, and the actual rotor position is measured by a
magnetic encoder installed on the rotor shaft of the FMDRM
prototype. The motor test bench contains the FMDRM proto-
type, an ac servo motor, and a torque sensor, where the ac servo
motor is utilized to provide the load torque and the torque sensor
is installed between the FMDRM prototype and the ac servo
motor for load torque measurement.
Experimental waveforms of the three-phase currents, dq-axis
currents, and dq-axis third-order harmonic voltage components
obtained by the harmonic current controller at 500 r/min are
shown in Fig. 12(a). It can be seen that the phase currents
are highly sinusoidal and the current harmonics caused by the
back EMF distortion can be effectively suppressed with the
developed harmonic current controller. To effectively suppress
the current harmonics, the resonant part of the harmonic current
controller generates third-order voltage components in the dq-
axis to counteract the back EMF harmonic components, which
is utilized for rotor position estimation in the proposed scheme.
In addition, with the increase of the rotor speed, the amplitude of
the third-order voltage components is also increased, as shown
in Fig. 12(b).
With the third-order voltage components in the q-axis, the
q-axis back EMF harmonic eq3 and corresponding quadrature
signal eq3q are obtained by the quadrature signal generator
introduced in Section IV, as shown in Fig. 13. It can be seen
that eq3 and eq3q have the same amplitude and 90° phase
 5612
Fig. 14. Experimental waveforms of phase current, virtual phase volt-
age, virtual flux linkage, and virtual inductance. (a) 500 r/min. (b)
1500 r/min.
Fig. 15. Experimental waveforms of three-phase virtual inductance,
estimated rotor position, measured rotor position, position calibration off-
set, and position estimation error with the proposed calibration method.
(a) 500 r/min. (b) 1500 r/min.
difference. Then, with the trigonometric calculation, the phase
angle of eq3 , i.e., θe3_est in Fig. 13 can be obtained, which
is with the triple frequency of the rotor position. Then, the
estimated rotor position can be obtained continuously with the
frequency division calculation. However, as shown in Fig. 13,
although the estimated and measured rotor positions have the
same frequency, a stable offset error still exists between the
estimated and measured rotor positions without the proposed
closed-loop calibration method. In addition, the phase offset
error will be changed in different operation conditions, as shown
in Fig. 13.
To achieve the online calibration of the position offset in
Fig. 13, the virtual inductances are online calculated according
to the duty ratios and the sampled phase currents. Fig. 14 shows
the phase current, virtual phase voltage, virtual flux linkage, and
the calculated virtual inductance of phase A at different rotor
speeds. Due to the back EMF multiharmonic characteristic of the
FMDRM, the virtual phase voltage is significantly distorted to
compensate the back EMF harmonics and achieve the harmonic
current suppression. Besides, the virtual flux linkage integrator is
reset at the zero-crossing point of the phase current in the current
rising interval to avoid the unipolar linear error. In addition, the
virtual inductance around the phase current zero-crossing points
is abandoned to avoid the calculation error, where the virtual
inductance is latched to 0.
Furthermore, with the proposed closed-loop calibration
method, the experimental results of the three-phase virtual in-
ductances, estimated rotor position, measured rotor position,
position calibration offset, and position estimation error are
shown in Fig. 15. When the three-phase virtual inductances
are obtained, the position offset error can be calibrated in
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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 70, NO. 6, JUNE 2023
Fig. 16. Experimental waveforms of three-phase currents, estimated
rotor speed, and measured rotor speed in dynamic processes. (a) Speed
increase condition. (b) Speed decrease condition. (c) Load increase
condition. (d) Start-up condition.
the overlapping regions of the three-phase virtual inductances.
Therefore, comparing the experimental results in Figs. 13 and
15, the position offset error between the estimated and measured
rotor positions can be effectively calibrated with the proposed
closed-loop position offset calibration method. Experimental
results prove that the proposed scheme can achieve accurate
continuous rotor position estimation.
To evaluate the effectiveness of the proposed rotor position
estimation scheme in dynamic processes, experimental results
of the three-phase currents, estimated rotor speed, and measured
rotor speed in the speed increase and decrease conditions are
shown in Fig. 16. As shown in Fig. 16(a), when the reference
speed increases, the three-phase currents increase accordingly,
and the rotor speed increases rapidly. During the transient pro-
cess, the estimated rotor speed tracks the measured rotor speed
perfectly. In addition, the estimated rotor speed can also track
the measured rotor speed well in the speed decrease condition,
as shown in Fig. 16(b). Furthermore, experimental results are
carried out in the load step increase condition, as shown in
Fig. 16(c). At 2.5 s, the load torque is suddenly increased from
0 to 4 N·m. After the load torque increase, the three-phase
currents increase rapidly, and the rotor speed swiftly recovers
to its reference value. During the whole dynamic process, the
estimated rotor speed can perfectly track the measured rotor
speed. Moreover, the experimental results during the start-up
process are shown in Fig. 16(d). It can be seen that the rotor speed
can be estimated accurately during the whole start-up process.
In conclusion, the experimental results prove the effectiveness
of the proposed rotor position estimation scheme in the dynamic
processes.
VI. CONCLUSION
This article proposed a novel rotor position estimation strategy
for the FMDRM drives. Based on the air-gap multiharmonic
characteristics caused by the rotor saliency, the back EMF
 YU et al.: CONTINUOUS ROTOR POSITION ESTIMATION FOR FLUX MODULATED DOUBLY SALIENT RELUCTANCE MOTOR DRIVES
harmonics and their relationship between the rotor positions in
both the stationary and fundamental rotating reference frames
were investigated. Furthermore, based on the harmonic current
regulator, the quadrature back EMF harmonics in the dq-axis
were online obtained by developing the quadrature signal gener-
ator for rotor position estimation. Moreover, based on the virtual
inductance calculation, a closed-loop calibration method was put
forward to online compensate the position offset error between
the estimated and real rotor position. The main contribution of
the proposed rotor position estimation scheme can be summa-
rized as follows.
1) With the proposed scheme, the rotor position of the
FMDRM could be estimated continuously without the
piecewise calculation.
2) The offset error of the estimated rotor position could be
online calibrated, which could significantly improve the
accuracy of the rotor position estimation.
3) The rotor position was estimated based on the harmonic
characteristics and the corresponding harmonic current
regulation, and the additional detection pulse injection
was not required, where the motor performance was not
affected.
4) The proposed scheme could be achieved without the
utilization of any additional sensors or detection circuits,
which could reduce the cost of the FMDRM drive.
5) The prestored electromagnetic characteristics of the FM-
DRM were not required in the proposed scheme, where
the complex offline measurement could be avoided.
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Zhiyue Yu (Student Member, IEEE) was born in
Shandong, China, in 1996. He received the B.S.
degree in electrical engineering and automation
from Chongqing University, Chongqing, China,
in 2018, and the M.S. degree in electrical engi-
neering, in 2021, from Huazhong University of
Science and Technology, Wuhan, China, where
he is currently working towards the Ph.D degree
in electrical engineering with the School of Elec-
trical and Electronic Engineering.
His research interests include the driving
topology and control strategy of permanent magnet machines and re-
luctance machines.
Chun Gan (Senior Member, IEEE) received
the Ph.D. degree in electrical engineering
and motor drives from Zhejiang University,
Hangzhou, China, in 2016.
He is currently a Professor with the School
of Electrical and Electronic Engineering,
Huazhong University of Science and
Technology, Wuhan, China. From 2016 to
2018, he was a Research Associate with the
Department of Electrical Engineering and
Computer Science, University of Tennessee,
Knoxville, TN, USA. He has authored or coauthored more than
100 peer-reviewed technical papers, including more than 70 IEEE
Transaction papers. He has over 30 issued or published invention
patents. His research interests include electrical motor drives,
electrical motor converters, motor design, electric vehicles, electrified
transportation, and high-efficiency power converters.
Dr. Gan was the recipient of the 2021 Distinguished Professor of
Hubei Province, the 2019 Outstanding Young Talent of Wuhan, the
2018 Highlighted Paper Award from IEEE TPEL, the 2018 Marie
Sklodowska-Curie Actions Seal of Excellence Award from European
Commission, the 2019 Best Paper Award from ICEMS.
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Kai Ni (Member, IEEE) was born in Jiangsu,
China. He received the B.Eng. (Hons.) and
Ph.D. degrees in electrical engineering from the
University of Liverpool, Liverpool, U.K., in 2016
and 2019, respectively.
After obtaining the support from the Post-
doctoral International Exchange Program, he
joined the School of Electrical and Electronic
Engineering, Huazhong University of Science
and Technology, Wuhan, China, from Decem-
ber 2019 as a Postdoctoral Researcher. His
research interests include modeling, control, and stability analysis of
doubly fed induction machines, power electronic converters, and air-
craft/shipboard power systems.
Dr. Ni was the recipient of the 2019 Chinese Government Award for
Outstanding Self-financed Students Abroad.
Mao Xin was born in Jiaocheng, China, in 1982.
He received the M.S. degree in electrical engi-
neering from Chongqing University, Chongqing,
China, in 2005.
He is currently an Electrical Engineer with
Zhejiang Xizi Forvorda Electrical Machinery
Company Ltd., Hangzhou, China. His research
interests include magnetic and thermal field cal-
culation of generators, electrical machines, mo-
tor drives, and the control of electrical machines.
Yu Chen (Student Member, IEEE) was born in
Changsha, China, in 1997. He received the B.S.
degree in electrical engineering and automa-
tion, in 2019, from the Huazhong University of
Science and Technology, Wuhan, China, where
he is currently working toward the Ph.D. degree
in electrical engineering with the School of Elec-
trical and Electronic Engineering.
His research interests include the high-
efficiency power converters, advanced control
strategies, and fault-tolerance schemes for the
reluctance motor systems.
Ronghai Qu (Fellow, IEEE) was born in China.
He received the B.E.E. and M.S.E.E. degrees
from Tsinghua University, Beijing, China, in
1993 and 1996, respectively, and the Ph.D. de-
gree from the University of Wisconsin–Madison,
Madison, WI, USA, in 2002, all in electrical en-
gineering.
In 1998, he joined the Wisconsin Electric
Machines and Power Electronics Consortiums,
University of Wisconsin–Madison, as a Re-
search Assistant. He became a Senior Electrical
Engineer with Northland, a Scott Fetzer Company in 2002. Since 2003,
he had been with the General Electric (GE) Global Research Center,
Niskayuna, NY, USA, as a Senior Electrical Engineer with the Electrical
Machines and Drives Laboratory. He has authored over 50 published
technical papers and is the holder of over 40 patents or patent applica-
tions. From 2010, he has been a Professor with the Huazhong University
of Science and Technology, Wuhan, China.
Prof. Qu is a Full Member of Sigma Xi. He has been the recipient of
several awards from GE Global Research Center since 2003, including
the Technical Achievement and Management Awards. He also was the
recipient of the 2003 and 2005 Best Paper Awards, third prize, from the
Electric Machines Committee of the IEEE Industry Applications Society
at the 2002 and 2004 IAS Annual Meeting, respectively.