Model-Based Position Estimation for Synchronous Reluctance Motor Drives
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School of Electrical Engineering |
Doctoral thesis (article-based)
| Defence date: 2014-08-20
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Author
Date
2014
Major/Subject
Mcode
Degree programme
Language
en
Pages
63 + app. 73
Series
Aalto University publication series DOCTORAL DISSERTATIONS, 86/2014
Abstract
This thesis deals with model-based position-estimation methods for synchronous reluctance motor drives. The position estimation methods should be robust against modeling uncertainties, and reliable position information should be obtained at all speeds, including standstill. Since the considered position-estimation methods are model based, methods to obtain the model parameters under normal operation of the drive are proposed. Three observer structures are studied: a first-order observer, a reduced-order observer and a speed-adaptive full-order observer. The stability of the observers is studied via small-signal linearization under erroneous model parameters. Based on the analysis, robust gain selections are proposed with maximal tolerance for model parameter uncertainties. For improved performance, the observers are augmented with parameter adaptation laws. The first-order observer and the reduced-order observer are augmented with resistance adaptation laws at low speeds, using information from the back-electromotive force. The speed-adaptive full-order observer is augmented with inductance adaptation law at high speed, using information from the back-electromotive force. At low speeds, the speed-adaptive full-order observer is augmented with resistance adaptation law, using information from high-frequency signal injection. The stability of the augmented observers are studied via small-signal linearization under erroneous model parameters. Based on the analysis, stabilizing gain selections are proposed. The observers are experimentally evaluated using a 6.7-kW synchronous reluctance motor drive. The first-order observer seems unsuitable for these. The behaviour of the reduced-order observer is closely related to the behaviour of the speed-adaptive full-order observer, but the speed-adaptive full-order observer can be made less sensitive to parameter variations and measurement noise due to the additional degrees of freedom. When the speed-adaptive full-order observer is augmented with parameter-adaptation laws, small position-estimation error is obtained at all speeds, including standstill.Tämä väitöskirja käsittelee mallipohjaisia menetelmiä reluktanssitahtimoottorikäyttöjen roottorin asennon estimointiin. Estimointimenetelmien tulee olla robusteja mallin parametrivirheille, ja asentotiedon on oltava luotettava kaikilla nopeuksilla. Koska työssä tutkittavat estimointimenetelmät ovat mallipohjaisia, menetelmiä mallien parametrien ajonaikaiselle estimoinnille on ehdotettu. Työssä on tutkittu kolmea havaitsijarakennetta: ensimmäisen kertaluvun havaitsijaa, vähennetyn kertaluvun havaitsijaa ja adaptiivista täyden kertaluvun havaitsijaa. Havaitsijoiden stabiiliutta on tarkasteltu linearisoidulla piensignaalimallilla mallin parametrien ollessa virheellisiä. Analyysin pohjalta on johdettu havaitsijoiden vahvistuksille ehdot, jotka maksimoivat havaitsijoiden toleranssin parametrivirheille. Suorituskyvyn parantamiseksi havaitsijoita on laajennettu parametrien adaptointimekanismeilla. Pienillä nopeuksilla ensimmäisen kertaluvun havaitsijaa ja vähennetyn kertaluvun havaitsijaa laajennetaan resistanssin adaptointimekanismilla, joka pohjautuu vastasähkömotoriseen voimaan. Suurilla nopeuksilla täyden kertaluvun havaitsijaa laajennetaan vastasähkömotoriseen voimaan perustuvalla induktanssien adaptoinnilla. Pienillä nopeuksilla täyden kertaluvun havaitsijaa laajennetaan signaali-injektioon perustuvalla resistanssin adaptoinnilla. Laajennettujen havaitsijoiden stabiiliutta on tarkasteltu linearisoidulla piensignaalimallilla mallin parametrien ollessa virheellisiä. Analyysin pohjalta on johdettu havaitsijoiden vahvistuksille stabiilin toiminnan ehdot. Havaitsijoiden suorituskykyä on arvioitu kokeellisesti 6,7 kW:n reluktanssitahtimoottorikäytöllä. Tulosten perusteella ensimmäisen kertaluvun havaitsija soveltuu huonosti reluktanssitahtimoottoreille. Vähennetyn kertaluvun havaitsija on ominaisuuksiltaan lähellä adaptiivista täyden kertaluvun havaitsijaa, mutta ylimääräisten vapausasteiden vuoksi adaptiivinen täyden kertaluvun havaitsija on vähemmän herkkä parametrivirheille ja mittauskohinalle. Parametrien adaptointimekanismeilla laajennetulla adaptiivisella täyden kertaluvun havaitsijalla saavutetaan pieni estimointivirhe kaikilla nopeuksilla, myös nollanopeudella.Description
Supervising professor
Luomi, Jorma, Prof., Aalto University, Department of Electrical Engineering and Automation, FinlandHinkkanen, Marko, Prof., Aalto University, Department of Electrical Engineering and Automation, Finland
Thesis advisor
Hinkkanen, Marko, Prof., Aalto University, Department of Electrical Engineering and Automation, FinlandKeywords
inductance adaptation, observer, parameter adaptation, sensorless, signal injection stability conditions, resistance adaptation, robustness, induktanssin adaptointi, havaitsija, parametrien adaptointi, anturiton, signaali-injektio, stabiiliusehdot, resistanssin adaptointi, robustius
Other note
Parts
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[Publication 1]: M. Hinkkanen, T. Tuovinen, L. Harnefors, and J. Luomi. Analysis and design of a position observer with stator-resistance adaptation for PMSM drives. In International Conference on Electrical Machines (ICEM’10), 6 pp., Rome, Italy, September 2010.
DOI: 10.1109/ICELMACH.2010.5607900 View at publisher
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[Publication 2]: T. Tuovinen, M. Hinkkanen, L. Harnefors, and J. Luomi. A reduced-order position observer with stator-resistance adaptation for synchronous reluctance motor drives. In International Power Electronics and Motion Control Conference (EPE/PEMC 2010), 6 pp., Ohrid, Republic of Macedonia, September 2010.
DOI: 10.1109/EPEPEMC.2010.5606645 View at publisher
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[Publication 3]: Z. Qu, T. Tuovinen and M. Hinkkanen. Inclusion of magnetic saturation in dynamic models of synchronous reluctance motors. In International Conference on Electrical Machines (ICEM’12), pp. 994-1000, Marseille, France, September 2012.
DOI: 10.1109/ICElMach.2012.6349997 View at publisher
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[Publication 4]: T. Tuovinen, M. Hinkkanen, and J. Luomi. Analysis and design of a position observer with resistance adaptation for synchronous reluctance motor drives. IEEE Transactions on Industry Applications, vol. 49, issue 1, pp. 66-73, January/February 2013.
DOI: 10.1109/TIA.2012.2228616 View at publisher
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[Publication 5]: T. Tuovinen, M. Hinkkanen, L. Harnefors, and J. Luomi. Comparison of a reduced-order observer and a full-order observer for sensorless synchronous motor drives. IEEE Transactions on Industry Applications, vol. 48, issue 6, pp. 1959-1967, November/December 2012.
DOI: 10.1109/TIA.2012.2226200 View at publisher
- [Publication 6]: T. Tuovinen and M. Hinkkanen. Adaptive full-order observer with high-frequency signal injection for synchronous reluctance motor drives. Accepted for publication in IEEE Journal of Emerging and Selected Topics in Power Electronics, vol. 2, issue 2, pp. 181-189, June 2014.
- [Publication 7]: T. Tuovinen and M. Hinkkanen. Signal-injection assisted full-order observer with parameter adaptation for synchronous reluctance motor drives. Accepted for publication in IEEE Transactions on Industry Applications, 12 pp., in press.
