2014 Texas Instruments Motor

Control Training Series

In t ro t o
C o n t r o l
r le s s
Senso

To schedule a motor control

seminar for your company, or in
your area, please contact me at
dave@kappaiq.com

www.kappaiq.com
Dave Wilson
 Sensorless
Sensored FOC
P
+
Commanded id = 0 + Vd

- + PMSM
Commanded iq
(torque)
I ∫ Reverse
Clarke-Park
Va
Vb TI
Dave’s
Control
Center

Transform Vc
Commanded P P
Rotor + +
Speed + + Vq θd
- + - +
Rotor Speed
I ∫ I ∫
id iq
ia Observer
Forward
ib

Speed
Clarke-Park
d/dt Transform θd
ic Phase C
Current
Calculation

θd

Shaft position sensors are VERY expensive ($1,500 in some cases).

Many applications cannot afford the cost of a shaft sensor.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Model Based Filtering
Noise

Measurement
Process Σ

+
Error feedback
Σ
-

Mathematical Estimate
Model of Process

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Tracking Filters
  
 

y  n  1  y  n   D y  n     y  n   y  n  
 
 

Dyˆ (n)  Dyˆ (n  1)    y  n   y  n  
 
y n
^ ^ correction
Dy correction y +
error  n 
Σ
-
β α 
y n

Z-1 Z-1
+  + + 

+ D y n + + y  n  1
Σ Σ Σ
Integrator Integrator

Better tracking is obtained when α and β are high

Better filtering is obtained when α and β are low

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 The Tracking Filter…Unmasked!

The tracking filter is revealed to be a simple 2nd order IIR filter as shown below.

Accumulator
X(n)  + Y(n+1)

+ +
+

Delay Delay

2
X(n-1)  Y(n)

Delay

1 Y(n-1)

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Cascaded Representation
This form of the filter reveals the
derivatives of the tracked variable.
Measured
Position
+
Error
Σ
-
β α

Z-1 Z-1
+ + + Estimated
+ + + Position
Σ Σ Σ
Estimated
Integrator Integrator Velocity

Estimated
Acceleration

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Parameter Estimation with Observers
By providing an additional feedforward input, the tracking filter can make
better output estimates. It then takes the form of an OBSERVER.

Can be designed to
have zero (or near β α
zero) estimation lag.
Source: Motion Controller Employs DSP Technology, Integrator Integrator
Robert van der Kruk and John Scannell,
Phillips Centre for Manufacturing Technology,
PCIM – September, 1988 Model of H(z)

Observers are used to “observe” a quantity which is difficult to measure

by mathematically modeling the system.
Observers literally recreate the desired signal mathematically (great noise decoupling).
The “guess” is corrected by comparison with an observable signal.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Servo Performance with Velocity Directly
from Encoder vs. Observer

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Sensorless Sinusoidal PMSM Control
Ls
Rs Lls Lm

applied voltage k E syn

Assuming no saliency, stationary frame equa

v  i  d i   sin  e  
v   Rs  i   Ls  i   k Esyn   
    dt    cos   
e 

with surface-mount magnets

alient design (magneticallyBack EMF component
round))

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Stationary Frame Back EMF Observer
i
Rs Ls i Back EMF Observer
+ emf
Vin -1
Vin
-
PI
emf
+
1
Low
Pass ^i
-
^R s
Filter

emf

Vin

 Vin t  emf t   t  + Low

i t    1 e t  1 Pass i
 Rs   - Rs Filter

emf

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Back-EMF Observer Performance
Rs Ls i i
Back EMF Observer
EMF
Vin + estimate
0.416Ω
1.365 mH
-
PI -1
120 VAC
^i
+ 1 Low
emf Pass
60 Hz
One of three phases of
??? - ^R s Filter

Baldor PMSM motor

V(bemf) V(voltage_input)

120 V
120V

100V

80V
Observer simulation
60V
Observer sampling frequency = 10 KHz
40V

20V

0V

-20V
Back-EMF
-40V
Estimated Back-EMF
-60V

-80V

-100V

-120 V
-120V
0ms 5ms 10ms 15ms 20ms 25ms

0 25ms

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Stationary Frame State Observer for
v
a Non-Salient Machine
Texas Instruments

v Dave’s
Motor Control
Center

i i PMSM Motor 
(2-phase representation)   n
LPF
+ +
1 -
Σ sLs  Rs Σ PI -1 cos
- Back EMF α
 K sin   
 1 
+
1 1   n
i ,  (v ,  emf , )   Σ K 1 s s Σ
 Rs  sLs  -

+ + K 2
1 -
Σ sLs  Rs Σ PI -1 sin
- Back EMF β
K cos  

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Sliding Mode EMF Observer
Iα

^
Iα -
Iαerror Zα

+ + + +
Vα 1/Ls SGN Kslide
- - -

Rs/Ls

Zα
LPF EMFα

“A Position and Velocity Sensorless Control of Brushless DC Motors Using an Adaptive Sliding Observer”, Takeshi Furuashi,
Somboon Sangwongwanich, Shigeru Okuma, 1990 IEEE Proceedings, 087942-600-4/90/1100-1188, pp. 1188-1192.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 Low Speed Saliency Tracking Observer
 Vm DZ
iq   sin  2 err 
2hf Z d Z q
P I regulator
results in
steady state 
value
High Frequency Current Measurement 1   n
servoing to L P F
Demodulator P s
zero I 
  n
High Frequency Voltage Injection (about 500 Hz) LPF
q

Zq Zd
q ax est)
ax
is

t)
is

s
(

(e
is
ax θ ct ual
d a 2  DZ
θerr
d axis Disadvantages:
Only works on motors with a strong saliency signal.

Saliency graph shifts when the motor is loaded.

Works at low speeds, but falls apart at high speeds.

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 ACIM Sensorless Control

Note: Still in stationary frame

 qds   Vqds  R s I qds  dt


 

 

Stationary Frame

Synchronous Frame

Source: Zero-Speed Tacho-less I.M. Torque Control: Simply a Matter of Stator Voltage Integration,
by K.D.Hurst, T.G.Habetler, G. Griva F. Profumo, IEEE paper, 1997

Dave Wilson TI Spins Motors…Smarter, Safer, Greener.

 ACIM Stator Flux Referenced FOC
rot
or
cu r
ren
t

stator q axis
rot
o rq
axi
s
xis

stator fux axis 

 

λ qds   Vqds  R s I qds  dt
xa

 
(easily measured)!
r fu

3 However, D-axis
Torque  Pesds iqses
roto

4 stator current no
longer independently
controls flux (i.e., the
Dave Wilson TI Spins Motors…Smarter, Safer,
axes areGreener.
now COUPLED).
 DTC: A Peek under the Hood
Vector
Selector
Flux Error Hysteretic increase
decrease
Texas Instruments

Band
Dave’s
Motor Control
Center

Torque Error Hysteretic increase

Band decrease
SVM

 s
p  conj  


Tem  Im  s i s 
2  
Commanded
Torque + - Torque
Calculator

 s
Commanded Flux
+ - s Stator
Flux
Calculator


   
 s  s  s    v s  R s i s  dt
 
Dave Wilson TI Spins Motors…Smarter, Safer, Greener.