Modeling and Control of Three-Phase PMSMs

under Open-Phase Fault

Alberto Gaeta, Giacomo Scelba, and Alfio Consoli
DIEEI
University of Catania
Catania, Italy
alfio.consoli@dieei.unict.it

Abstract—This paper deals with modeling and control of three- dynamic performance to the control; a suitable control
phase Permanent Magnet Synchronous Motors (PMSM) under strategy has to be applied in these abnormal operating
open-phase fault conditions. Suitable reference frame conditions, since the traditional control methods adopted
transformations are introduced in order to obtain a q-d axis during healthy situation cannot be used any more.
model similar to that normally adopted for machines working Significant research activity has been developed
in healthy conditions. Adoption of such a model also allows to regarding the implementation of vector controls under open
implement sensorless vector control strategies for PMSM phase fault with the drive configuration indicated in Fig. 1
drives under open-phase fault conditions, in a wide operating [2-8]. The analysis described in [2] leads to the important
range. Simulations and experimental tests confirm the validity
conclusion that under open phase fault it is still possible to
of the theoretical analysis.
apply a rotating MMF to the machine by imposing a 60°
phase shift between the stator currents of the two supplied
I. INTRODUCTION
stator windings. In particular, a hysteresis CRPWM control
Reliability of an electrical drive has been always a scheme has been implemented in [2,3] to maintain such a
primary concern in many applications such as automotive, condition. Modeling and field oriented control of a three
aircraft and transportation. This issue is strictly related to the phase induction motor under open-phase fault has been
concept of fault tolerant drive system, which usually consists presented also in [4]; in this case, differently than [2], a new
of an electrical machine specifically designed to be coupled model of the machine is adopted during unbalanced
with an adopted fault tolerant inverter topology and a conditions exploiting suitable reference frame
suitable control strategy able to manage the drive system transformations, which are also used to perform field
during the fault. orientation.
Many efforts have been spent in the past devoted to
provide effective solutions to this particular operating
condition [1-13]. Several works have been proposed in order
to design new inverter topologies allowing to overcome
inverter faults. This feature is achieved by means of the
reconfiguration of the inverter structure during the fault
through the use of additional power devices [1]; in this case,
the inverter fault tolerant capability is strictly related to the
drive cost and the desired system reliability level; moreover,
many technical solutions also require the availability of the
stator windings neutral point.
In case of a standard three-phase inverter topology (Fig. 1),
the minimum fault tolerant inverter level can be reached by
including short circuit protections on each inverter leg and
connecting the neutral point of the stator windings to the
middle point of the DC bus; this technical solution excludes
the entire inverter leg in case of power device short circuit,
leaving the electrical machine to operate in two phase mode
[2-8]. Of course, in this situation, the hardware configuration
during the fault is not sufficient to ensure medium-high Fig. 1 – Three phase IPMSM drive tolerant to open phase fault.

978-1-4577-0541-0/11/$26.00 ©2011 IEEE 1684

 Most of the works presented in the past have focused on In case of Surface Mounted Permanent Magnet
developing algorithms for field oriented control in faulted Synchronous Machine (SMPMSM), the condition Ld=Lq has
multiphase (more than 4) induction motors and PMSMs to be included in the aforementioned expressions.
[10,11], but none of them proposes a detailed analysis in case As an open-phase fault occurs, the analytical model of
of three phases machines. In particular, the analysis the PMSM must be modified due to this unbalanced
presented in [11] proposes a synchronous frame current condition. Assuming that the neutral point of the stator
controller of multiphase synchronous motors in case of open- windings is accessible, which guarantees independent stator
phase fault, exploiting a new reference frame transformation. current flow into the two healthy phases, the model of the
Although the authors claim that the basic concepts can be machine can be rewritten as in (3). The matrix Lij has been
extended to n-phases motors, no indication is given on divided into two components: Ls, which includes the
configurations different than five phases machines. constant coefficients, and Lmij, which includes the terms due
Moreover, the paper does not argue how the efficiency to the magnetic saliency:
optimization technique used in the current control loop must
be modified in case of open-phase fault in order to operate dλsij
the drive still in conditions of maximum efficiency, and does v sij = rs i sij +
dt
not provide any evaluation of the dynamic performance of
the faulted drive. λsij = ( )
L s + L mij isij + M ij λ pm = L ij isij + M ij λ pm (3)
This paper proposes an accurate formulation of a new
model for three phase PMSMs under open phase fault, ⎧b,c → open phase ' a' fault
assuming that the mid point of the stator windings is ⎪
where: i, j = ⎨a,c → open phase ' b' fault
accessible. This work has a twofold goal: i) with the
⎪
proposed model an effective vector control can be ⎪⎩ a,b → open phase ' c' fault
implemented in order to improve the reliability and
performance of the drive under the fault situation, ii) the ⎡ ⎛ Ld + Lq − 2Lls ⎞ 1 ⎛ Ld + Lq − 2Lls ⎞ ⎤
same model can be used to perform a model-based sensorless ⎢ Lls + ⎜ ⎟ − ⎜ ⎟⎥
⎢ ⎝ 3 ⎠ 2⎝ 3 ⎠⎥
estimation of the rotor flux position, thus contributing to Ls =
⎢ 1 ⎛ Ld + Lq − 2Lls ⎞ ⎛ Ld + Lq − 2Lls ⎞⎥
improve the reliability of the vector control. ⎢− ⎜ ⎟ Lls + ⎜ ⎟⎥
⎣ 2⎝ 3 ⎠ ⎝ 3 ⎠⎦

II. PMSM MODEL DURING OPEN-PHASE FAULT ⎛ Ld − Lq ⎞⎡ cos[ 2(ϑ r + β1)] cos[ 2(ϑ r + β 2 )]⎤
L mij = −⎜ ⎟⎢ ⎥ (4)
The abc stationary reference frame model of a PMSM, ⎝ 3 ⎠⎢⎣ cos[ 2(ϑ r + β 2 )] cos[ 2(ϑ r + β 3)]⎥⎦
working in healthy conditions is given by:
⎡sin(ϑ r + β1)⎤
dλ M ij = ⎢ ⎥
v abc = rs i abc + abc ⎣sin(ϑ r + β 3)⎦
dt
The matrix Mij includes the stator flux terms depending
λ abc = L abc i abc +
(1) on the rotor position related to the permanent magnet flux.
⎡ ⎡ ⎛ 2 ⎞⎤ ⎡ ⎛ 2 ⎞⎤⎤
T
The coefficients β1, β2, β3 are chosen according to the
⎢ cos( 2ϑ r ) cos⎢ 2⎜ϑ r − π ⎟⎥ cos⎢ 2⎜ϑ r + π ⎟⎥⎥ λ pm open-phase fault condition, as indicated in (5):
⎣ ⎣ ⎝ 3 ⎠⎦ ⎣ ⎝ 3 ⎠⎦⎦
⎧
where rs=diag(rs) and the terms of the matrix Labc are: ⎪⎛− 2 π , 0, 2 π ⎞ → open phase ' a' fault
⎛ Ld + Lq − 2Lls ⎞ ⎛ Ld − Lq ⎞
⎪⎜⎝ 3 3 ⎠
⎟
Lhh = Lls + ⎜ ⎟− ⎜ ⎟ cos[ 2(ϑ r + α )] ⎪
⎪⎛ π 2 ⎞
⎝ 3 ⎠ ⎝ 3 ⎠ ( β1, β 2 , β 3) = ⎨⎜ 0, , π ⎟ → open phase ' b' fault (5)
1 ⎛ Ld + Lq − 2Lls ⎞ ⎛ Ld − Lq ⎞ ⎪⎝ 3 3 ⎠
Lkh = Lhk = − ⎜ ⎟− ⎜ ⎟ cos[ 2(ϑ r + γ )] ⎪
2⎝ 3 ⎠ ⎝ 3 ⎠ ⎪⎛ 0,− π ,− 2 π ⎞ → open phase ' c' fault
⎪⎩⎜⎝ 3 3 ⎠
⎟
⎧ ⎧ π (2)
⎪ 0, h = a ⎪− 3 , ( h, k ) = ( a,b) Finally, neglecting the magnetic saturation, the
⎪ 2 ⎪
α = ⎨− π , h = b γ = ⎨ π , ( h, k ) = (b,c ) electromagnetic torque can be determined by means of the
⎪ 3 ⎪ π traditional derivative calculation of the magnetic co-energy
⎪ 2 π ,h = c ⎪⎩ , ( h, k ) = ( a,c ) Wf of model (3) with respect to rotor position:
⎩ 3 3

In (1) and (2) rs is the stator resistance, Lls is the leakage 1 s T

( )( )( ) ( )
T
inductance and Ld and Lq are the d and q axis synchronous Wf = iij L s + L mij − Lls diag(1) isij + λ pm isij M ij
2
inductances. The angular positions α and γ take into account
the spatial phase displacement of the three stator windings in The final result is indicated in (6).
the inductance variations.

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 ( ) ∂
)( ) ( ) ∂
T T
Te =
P s
4
iij
∂ϑ r
( P
L mij isij + λ pm isij
2 ∂ϑ r
( )
M ij =
(6)
The final model is described by:
−1
v rqd = R V BAv sij = R V BArs ( A) ( B)−1( RI )−1 irqd +
= T er + T em
Ter and Tem are the two contributions due respectively to
the reluctance and permanent magnet excitation.
R V BA
d
dt[( A)−1( B)−1( RV )−1 λrqd = ] (9)

By exploiting new reference frame transformations, the ⎡ 0 1⎤ r d r

= rsr irqd + ω re⎢ ⎥λ qd + λ qd
analytical representation of the machine can be transferred to ⎣−1 0⎦ dt
an orthogonal q-d axis reference frame, synchronous with the
−1
rotor flux. Firstly, the model equations (3), (4) are λrqd = R V BAλsij = R V BAL ij ( A) ( B)−1( RI )−1 irqd +
transformed to a qsudsu orthogonal stationary reference frame (10)
(Fig. 2), by adopting the matrix transformations A and B, R V BAM ij λ pm = Lrqd irqd + M qd
r
λ pm
indicated in (7).
where:
rsr = 2 ⋅ diag( rs ) + rs Ε (ϑ r )

⎡ Lq + Lls 0 ⎤
Lrqd = ⎢ ⎥ + LlsΕ (ϑ r )
⎣ 0 Ld + Lls ⎦ (11)
⎡ cos[ 2(ϑ + β )] sin[ 2(ϑ + β )] ⎤
Ε (ϑ r ) = ⎢
r 2 r 2
⎥
Fig. 2 – ij-qd transformation (BA).
⎢⎣ sin[ 2(ϑ r + β 2 )] − cos[ 2(ϑ r + β 2 )]⎥⎦

2 ⎡1 1 ⎤ −1 2 ⎡ 0⎤
⎥ = ( A) = ( A)
T
A= ⎢ M rqd = ⎢ ⎥
2 ⎣1 −1⎦ 2 ⎣1⎦
⎡⎡ ⎤−1
⎢⎢ 2 cos⎛⎜ β 1 − β 3 ⎞⎟⎥ 0
⎤
⎥ T e = T er + T em =
3P
2 2
[ (
2 λ pm i qr + 2 Ld − Lq i qr ⋅ i dr ) ] (12)
⎢⎣ ⎝ 2 ⎠⎦ ⎥ (7)
B=⎢ −1 ⎥
⎡ ⎛ ⎞⎤ Note that while A is exploited to make ALs(A)-1 diagonal,
⎢ β1 − β 3
0 ⎢ 2sin⎜ ⎟⎥ ⎥ B is necessary to balance the amplitudes of the two terms of
⎢⎣ ⎣ ⎝ 2 ⎠⎦ ⎥⎦
the matrix AMij.
⎡ ⎛ β1 − β 3 ⎞ ⎤ According to the proposed relationships, the main
⎢ 2 cos⎜ ⎟ 0 ⎥ difference with the traditional model adopted in healthy
⎝ ⎠
( B) −1 = ⎢ 2
⎛ β − β 3 ⎞⎥
⎥ conditions is related to the matrix structure of rsr and Lqdr.
⎢ 2 sin⎜ 1
0 ⎟ While Lqdr only includes a dependence from the rotor flux
⎢⎣ ⎝ 2 ⎠⎥⎦
position, which can be considered negligible as it is related
Then, an additional reference frame conversion, to the leakage inductance, the rsr matrix is more deeply
synchronous with the rotor flux position, is applied; to this affected by the unbalanced working condition, and an
goal, two different matrices Rv and RI are used. amplitude modulation of the stator resistance according to
⎡ cos(ϑ r + β 2 ) −sin(ϑ r + β 2 )⎤ ⎛ the rotor flux position occurs during the open-phase fault.
−1 ⎞T
RV = ⎢ ⎥ = ⎜( RV ) ⎟ Another important consideration regards the analytical
⎣ sin(ϑ r + β 2 ) cos(ϑ r + β 2 ) ⎦ ⎝ ⎠
relationships between the current and voltage amplitudes, Iij
and Vij, measured in the ij stationary reference frame and the
⎡
(
1 cos ϑ r + β 2 ) (
−3sin ϑ r + β 2 ⎤)
( )
RI = ⎢ ⎥ (8) same quantities calculated in the qdr synchronous reference
(
3 ⎢⎣ sin ϑ r + β 2 ) (
3cos ϑ r + β 2 ⎥⎦) frame. The analytical expressions (13) and (14) clearly show
that, compared to the healthy system condition, each
⎡ 3cos(ϑ + β ) 3sin(ϑ r + β 2 )⎤
( RI ) −1 = ⎢ − sin ϑ r + β 2
electrical quantity is differently scaled in the new reference
⎥
⎣ ( r 2) cos(ϑ r + β 2 ) ⎦ frame.

Basically, RV is applied to all electrical quantities with the ⎡i r ⎤ ⎡i s ⎤

(i ) + (i )
2 2 1
exception of the stator currents, which are transformed by ⎢ q ⎥ = RI ⋅ B ⋅ A ⋅ ⎢ is ⎥ r
q
r
d = I ij (13)
using the matrix RI. Both these reference frame conversions ⎢⎣i dr ⎥⎦ ⎢⎣i j ⎥⎦ 6
have been deduced to remove the dependence of the rotor
⎡v r ⎤ ⎡vs⎤
(v ) + (v )
flux position from the torque expression, as in case of 2 2 1
healthy conditions. ⎢ q ⎥ = RV ⋅ B ⋅ A ⋅ ⎢ is ⎥ r
q
r
d = Vij (14)
⎢⎣ v dr ⎥⎦ ⎢⎣ v j ⎥⎦ 2

1686
 Moreover, the torque equation maintains the same form of can be easily included in a standard ac drive control
no-fault operation. This is a very important result in order to scheme as it does not require any particular switching
perform an effective vector control implementation during an strategy and additional hardware and/or software resources.
open-phase fault. In fact, as for the computational burden, the matrices
The goal of using different transformations RV and RI is to adopted in faulted mode require only the knowledge of the
provide a balanced qdr model in the rotor reference frame, rotor flux position, leaving the structure of the current
when the machine is operating under unbalanced condition control loop identical to that of the healthy system.
due to the fault. In this situation, it is possible to transform
all electrical quantities from qdr to a balanced stationary qds A. Sensored implementation
reference frame by just applying the matrix RV-1, since the
transformation is applied to already balanced quantities. Fig. 3 shows the block diagram of the proposed fault
tolerant vector control implementation where the traditional
⎡v s ⎤ ⎡v r ⎤ ⎡vs ⎤ abc/qd0s Kss and the qd0s/qd0 rKsr matrix transformations
⎢ q ⎥ = RV−1 ⋅ ⎢ q ⎥ = RV−1 ⋅ RV ⋅ B ⋅ A ⋅ ⎢ si ⎥ = [14] are used in case of no-fault while the proposed matrix
⎢⎣ v ds ⎥⎦ ⎢⎣ v dr ⎥⎦ ⎢⎣ v j ⎥⎦ transformations are adopted in case of open-phase fault.
⎡vs⎤ ⎡2 1 1⎤
= B ⋅ A ⋅ ⎢ is ⎥ ⎢ − − ⎥
⎢⎣ v j ⎥⎦ ⎡ cos(ϑ r ) − sin(ϑ r ) 0⎤
⎢3 2
1
2
1 ⎥ r ⎢ ⎥
s ⎢
Ks = 0 − ⎥ K s = ⎢ sin(ϑ r ) cos(ϑ r ) 0⎥ (15)
⎡i s ⎤ ⎡i r ⎤ ⎡i s ⎤ ⎢ 3 3⎥
⎢ q ⎥ = RV−1 ⋅ ⎢ q ⎥ = RV−1 ⋅ RI ⋅ B ⋅ A ⋅ ⎢ is ⎥ = ⎢1 1 1 ⎥
⎢⎣ 0 0 1⎥⎦
⎢⎣i ds ⎥⎦ ⎢⎣i dr ⎥⎦ ⎢⎣i j ⎥⎦ ⎢⎣ 3 3 3 ⎥⎦
⎡1 ⎤ ⎡i s ⎤
0
= ⎢ 3 ⎥B ⋅ A ⋅ ⎢ is ⎥ Practically, since in healthy system the zero component of
⎢ 0 1⎥ ⎢⎣i j ⎥⎦
⎣ ⎦ the electrical quantities is zero, the third row of both matrices
in (15) can be eliminated.
It is important to note that the transformations required to
Of course, a fault detection mechanism has to be adopted;
calculate the electrical quantities from ij to qds reference
such an algorithm includes the switch S1, which is exploited
frames are constant.
to commutate between the two different groups of reference
frame transformations.
III. FAULT TOLERANT FIELD ORIENTED CONTROL A straightforward detection technique could be based on
The proposed model of the PMSM can be suitably the application to the terminals of the machine of an
exploited to implement a vector control tolerant to open- additional three-phase symmetrical voltages of low
phase fault. Applying the proposed reference frame amplitude and high frequency (1kHz), coupled with a
transformations, it is possible to control the electromagnetic suitable filtering algorithm applied to the stator currents; in
torque produced by the machine as in healthy conditions, this case, when the open phase fault occurs, the high
with no modifications of the control topology. Moreover, frequency current in the faulted phase decreases steadily to
differently than the methods exploiting conventional zero in few ms, allowing a very fast detection of the fault
hysteresis-type current regulators, the proposed technique [15].

Fig. 3 a) Block Diagram of the Fault Tolerant Vector Control b) model based sensorless estimation algorithm

1687
 As mentioned previously, the drive configured as indicated Fig. 4 displays both MTPA profiles indicating also the
in Fig.1, where the neutral point of the stator windings is constant amplitude circle for a fixed stator phase current.
connected to the mid point of the DC bus (Vdc); hence, Because of the scaling factor in (13), the latter curve
during the fault, this motor terminal is mandatory connected represents two different real stator currents, according to the
to the voltage level Vdc/2. drive faulted or unfaulted drive configuration.
As the torque expression indicated in (12) is obtained at the From (17) and (18), it is possible to calculate the
price of including a modulation of the coefficients of the electromagnetic torque that the machine is able to produce in
stator resistance matrix according to the rotor flux position, both healthy and faulted modes for each stator current value.
the torque control can be successfully performed during the The results are indicated in Fig. 5, where is evident a torque
fault by compensating the variation of the stator resistor capability reduction in faulted condition approximately equal
voltage drop, as shown in Fig. 3. to 40% at rated current.
A substantial difference between the healthy and faulted
drive conditions is also related to the stator current vector
profile that must be used in order to perform the efficiency
optimization control strategies. For example, the reference
current profile which allows to achieve the Maximum
Torque per Ampere control strategy (MTPA) can be
obtained by following the same analytical procedure adopted
in case of healthy drive [16], [17]. In particular, also in
faulted case, for each stator current amplitude, a point (iqr,id r)
of the current profile is calculated in order to maximize the
electromagnetic torque:

⎧ ⎛3 P ⎞
⎪ max(T e ) = max⎜
⎪ ⎝2 2
[ ( ) ]
2 λ pm i qr + 2 Ld − Lq i qr ⋅i dr ⎟
⎠ Fig. 5 – Electromagnetic Torque Te vs stator current amplitude Is.
⎨ (16)
( ) ( )
⎪ r 2 2 I B. Sensorless implementation
r
⎪⎩ i q + i d = 6
The proposed model can be used also to estimate the
The reference current profiles to use in case of healthy (17) rotor flux position θrest during the fault. The estimation
and faulted (18) system are different: algorithm performs the tracking of the rotor flux position by
analyzing the error eqd between the back emfs in the correct
1 λ pm λ2pm
( )
1 2 and estimated reference frames.
i dr = − + i qr
( )
According to this approach, substituting (10) in (9) and
( )
2 Lq − Ld 4 L −L 2
q d (17) adding to and subtracting from the resultant q-axis equation
the expression:
2 λ pm λ2pm
( )
1 2
di qr
i dr =
(
4 Lq − Ld
−
)
8 L −L 2
q d
+ i qr
( ) (18) ( Ld + Lls ) dt + ω (L
re q )
+ Lls i dr

an equivalent qd model synchronous with the rotor position

and suitable for model-based sensorless implementation can
be obtained:

⎡ 0 1⎤ r
v rqd = 2rs irqd + ω re Lq ⎢ ⎥i qd +
⎣−1 0⎦
d r ⎡ Eex ⎤
Ld i qd + ⎢ ⎥ + rs Ε (ϑ r )i qd
r
(19)
dt ⎣ 0 ⎦
⎡ ⎤
( )
Eex = ω re⎢ Ld − Lq i dr +
⎣ 2
2
(
λ pm ⎥ + Lq − Ld
⎦
d r
dt
)
iq

Transforming (19) into a qdrest reference frame rotating at

ω rest and lagging an error angle δ from the qdr reference
frame, it can be obtained:
Fig. 4 – MTPA profiles in healthy and faulted conditions.

1688
 ⎡eq ⎤ ⎡ cos δ ⎤ rest rest
has been performed neglecting the contribution of the
⎢ ⎥ = Eex ⎢ ⎥ ≈ v qd − 2rs iqd + reluctance torque (id r =0).
⎣ed ⎦ ⎣ sin δ ⎦ Note that the proposed approach allows to achieve a
(20)
⎡ 0 1⎤ rest d rest satisfactory decoupling between the torque and flux control.
⎥i qd − Ld i qd − rs Ε (ϑ rest )i qd
rest
−ω rest Lq ⎢ Fig. 8 shows a start up of the system from zero speed to 100
⎣−1 0⎦ dt
rad/s. As it might be expected, due to the more limited torque
Note that (20) was achieved neglecting the leakage availability related to the fault operation, a performance
inductance Lls and assuming ωrest ≅ωre. Moreover, since the deterioration (reduced maximum slope speed) of the motor
latter transformation involves only rotating reference frames, drive can be noticed. The test shown in Figs. 9,10 highlights
the same reference frame transformation R is used for both the distortion of the stator current waveforms due to the third
voltages and currents. harmonic. In particular, Fig. 9 shows the two healthy stator
current waveforms, while Fig.10 displays their spectrum.
⎡ cos(δ ) −sin(δ )⎤ ⎛ −1⎞T Such a distortion is depending on the load, and for the tested
R =⎢ ⎥ = ⎜( R) ⎟⎠
⎣ sin δ cos(δ ) ⎦ ⎝ motor the amplitude of this harmonic can reach values
almost equal to the 15% of the fundamental harmonic.
From (20) it is possible to estimate the rotor position Obviously, the q-d axis components of the stator current
through a suitable tracking algorithm which maintains the are also affected by the third harmonic and consequently, the
error δ equal to zero. In practice, a phase-looked loop amplitude modulation related to the third harmonic is
algorithm is used to lead eqd to zero as indicated in the block superimposed to the stator resistance voltage drop.
diagram of Fig. 3b. Compensation of the latter term by means of rsriqd r is evident
in the results shown in Figs. 12, 14, where the waveforms of
IV. E XPERIMENTAL RESULTS torque, speed and phase current are shown at steady state and
light load. Figs. 11,13 display the harmonic spectrum of the
In order to check the validity of the proposed method, the measured iqd r, respectively without and with compensation.
sensored and sensorless implementations of field oriented Note that the torque ripple is reduced as the voltage
control with a faulted drive has been experimentally tested compensation term is included in the current control loop.
on an IPMSM, whose technical data are indicated in Table I;
the experimental setup consists of the tested motor,
mechanically coupled with a 12kW DC motor drive through
a torque meter (Fig. 6). A position sensor has been used to
achieve a twofold goal: perform the field orientation in order
to obtain a fast and accurate torque control, and, in case of
sensorless implementation, use it for comparison with the
rotor position estimation. Finally, a spectrum analyzer has
been used to identify the spectrum content of the stator
currents. The control has been implemented on a single
controller board consisting of 64 bit floating point processor
and a 16 bit fixed point slave DSP. The entire control routine
is executed at 10kHz. All the results presented in the
following are referred to the case of open “c” phase fault. Fig. 7 iq inversion at no load: CH1:ωr [150 rad/s/div.]; CH2: iq [10 A/div.];
They pay attention to both dynamic and steady state CH3: id [10 A/div.]; CH4: meas. θr [5 rad/div.]; Time: [0.5 s/div.].
performance.

Fig. 6– Experimental Setup.

Fig. 8 start up, Load=5 Nm: CH1:meas. θr [2π rad/div.];
Fig. 7 highlights the good performance of the proposed CH2: ωr [100 rad/s/div.]; CH3: iqr [10 A/div.];
vector control under fault and in sensored mode, showing an CH4: id r [10 A/div.]; Time: [0.5 s/div.].
adequate response to the torque current component. This test
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 Fig. 9 – ωr = 52.5 rad/s, Te=5 Nm. CH1:ia [10 A/div.];
CH2: :ib [10 A/div.]; Time: [10 ms/div.].

Fig. 12 – ωr = 52.5 rad/s, Te=2.5 Nm, without rs disturbance term

compensation. CH1:torque ripple[0.5Nm/div.]; CH2: ωr ripple[5 rad/s/div.]
CH3: ia [5 A/div.]; Time: [50 ms/div.].

Fig. 10 – ωr = 52.5 rad/s, Te=5 Nm. CH1:ia frequency spectrum;

CH2: ib frequency spectrum.

Finally, the faulted electrical drive system has been tested

in sensorless mode. Fig. 15 shows a comparison between the
estimated rotor position obtained through the rotor flux
observer, and the position measured by the mechanical
sensor. The test has been carried out at steady-state and
loaded condition, and is able to confirm the limited
maximum error ensured by the estimation algorithm (less
than 6 electrical degrees).
In order to evaluate the dynamic performance of the
system in sensorless mode, a speed transient test is reported
in Fig. 16. Specifically, a speed transient has been imposed
to the drive at no load; in this test the estimation error is also
Fig. 13 – ωr = 52.5 rad/s, Te=2.5 Nm, with rs disturbance term
measured, showing that it can be significant during the compensation. CH1:iq r frequency spectrum; CH2: :id r frequency spectrum.
transient due to the presence of the third harmonic within the
stator current, which depends on the torque component of the
stator current vector. In order to limit this drawback, the
maximum variation of the speed needs to be reduced.

Fig. 14 – ωr = 52.5 rad/s, Te=2.5 Nm, with rs disturbance term compensation.

CH1:torque ripple[0.5Nm/div.]; CH2: ωr ripple[5 rad/s/div.] CH3: ia [5
A/div.]; Time: [50 ms/div.].

Fig. 11 – ωr = 52.5 rad/s, Te=2.5 Nm, without rs disturbance term

compensation. CH1:iqr frequency spectrum; CH2:idr frequency spectrum.

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 ACKNOWLEDGMENT
This paper has been written in the frame of the Project:
“Azionamenti elettrici ad elevata robustezza di
funzionamento”, funded by the Italian MIUR-PRIN 2008.

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