Design and Simulation of Direct and Indirect Back EMF Sliding Mode Observer for Sensorless Control of PMSM

Petro, Viktor; Kyslan, Karol

doi:10.2478/pead-2020-0016

Abstract

This article compares two sensorless control algorithms for a permanent magnet synchronous machine (PMSM) based on the back-EMF sliding mode observer (SMO). Indirect SMO (I-SMO) treats the back-EMF voltages as a disturbance. Direct SMO (D-SMO) considers back-EMF voltages as state-space variables. The same phase-locked loop (PLL) is used for both observers for extraction of the rotor position and speed values from the observed back-EMF voltages. In a sensorless control, the observed speed is used as feedback for the PI controller, and the observed position is used in the Park transformations. Both observers have been implemented and tested with standard field-oriented control. Simulation results indicate rather comparable speed and position estimation precision for both, but the D-SMO indicates slightly higher precision in steady-state. Even more, a tuning procedure of the D-SMO is more straightforward when compared to the I-SMO. Thus, the D-SMO was further verified experimentally with the OP 5600 rapid prototyping device and with a 350 W PMSM drive. Experimental results of the D-SMO are included at the end of the paper.

References

Changsheng, L. and Elbuluk, M. (2002). A Robust Sliding Mode Observer for Permanent Magnet Synchronous Motor Drives. In: IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02, Sevilla, 2002, vol. 2, pp. 1014–1019, doi: 10.1109/IECON.2002.1185411.10.1109/IECON.2002.1185411
Search in Google Scholar Back to article
Chen, Z., Tomita M., Doki S. and Okuma, S. (2000). New Adaptive Sliding Observers for Position- and Velocity-Sensorless Controls of Brushless DC Motors. IEEE Transactions on Industrial Electronics, 47(3), pp. 582–591, doi: 10.1109/41.847899.10.1109/41.847899
Search in Google Scholar Back to article
Chi, S. (2007). Position Sensorless Control of Permanent Magnet Synchronous Machines over Wide Speed Range. PhD. Dissertation, The Ohio State University.
Search in Google Scholar Back to article
Chi, S., Zhang Z. and Xu, L. (2009). Sliding-Mode Sensorless Control of Direct-Drive PM Synchronous Motors for Washing Machine Applications. IEEE Transactions on Industry Applications, 45(2), pp. 582–590, March–April 2009, doi: 10.1109/TIA.2009.2013545.10.1109/TIA.2009.2013545
Search in Google Scholar Back to article
Elbuluk, M. and Changsheng, L. (2003). Sliding Mode Observer for Wide-Speed Sensorless Control of PMSM Drives. In: 38th IAS Annual Meeting on Conference Record of the Industry Applications Conference, 2003., Salt Lake City, UT, USA, 2003, vol.1.1, pp. 480–485.10.1109/IAS.2003.1257543
Search in Google Scholar Back to article
Freescale Semiconductor. (2008). Sensorless PMSM Vector Control with a Sliding Mode Observer for Compressors Using MC56F8013 [online]. Available at: https://www.nxp.com/docs/en/reference-manual/DRM099.pdf [Accessed September 2008].
Search in Google Scholar Back to article
Haicai, L. and Guangjun, L. (2016). Rotor Position and Speed Estimation Method for Magnetically Suspended PMSM Based on Modified Sliding Mode Observer. In: 2016 International Conference on Mechatronics, Control and Automation Engineering, Bangkok, January 2016.
Search in Google Scholar Back to article
Horváth, K. and Kuslits, M. (2019). Speed Sensorless Field-Oriented Control of Induction Machines Using Unscented Kalman Filter. In: 2017 International Conference on Optimization of Electrical and Electronic Equipment (OPTIM) & 2017 Intl Aegean Conference on Electrical Machines and Power Electronics (ACEMP), Brasov, 2017, pp. 523–528.10.1109/OPTIM.2017.7975021
Search in Google Scholar Back to article
Kyslan, K., Šlapák, V., Petro, V., Marcinek, A. and Đurovský, F. (2019). Speed Sensorless Control of PMSM with Unscented Kalman Filter and Initial Rotor Alignment. In: International Conference on Electrical Drives & Power Electronics (EDPE), The High Tatras, Slovakia, 2019, pp. 373–378.10.1109/EDPE.2019.8883918
Search in Google Scholar Back to article
Tarczewski, T., Skiwski, M., Grzesiak, L. M. and Zieliński, M. (2018). PMSM Servo-Drive Fed by SiC MOSFETs Based VSI. Power Electronics and Drives, 3(38), pp. 35–45.10.2478/pead-2018-0001
Search in Google Scholar Back to article
Texas Instruments. (2001). Digital Motor Control, Software library SPRU485A [online]. Available at: https://www.tij.co.jp/jp/lit/ug/spru485a/spru485a.pdf?ts=1601979782639&ref_url=https%253A%252F%252Fwww.google.com%252F [Accessed August 2020].
Search in Google Scholar Back to article
Utkin, V., Guldner, J. and Shi, J. (1999). Sliding Mode Control in Electromechanical Systems, 1st ed. Taylor & Francis, London.
Search in Google Scholar Back to article
Wang, G., Li, Z., Zhang, G., Yu, Y. and Xu, D. (2013). Quadrature PLL-Based High-Order Sliding-Mode Observer for IPMSM Sensorless Control with Online MTPA Control Strategy. IEEE Transactions on Energy Conversion, 28(1), pp. 214–224, doi: 10.1109/TEC.2012.2228484.10.1109/TEC.2012.2228484
Search in Google Scholar Back to article
Wang, G., Zhang, G. and Xu, D. (2020). Position Sensorless Control Techniques for Permanent Magnet Synchronous Machine Drives. Springer: Singapore. ISBN 978-981-15-0049-7.10.1007/978-981-15-0050-3
Search in Google Scholar Back to article
Zambada, J., Microchip Technology Inc. (2010). Sensorless Field Oriented Control of a PMSM. Microchip Application Note AN1078 [online]. Available at: http://ww1.microchip.com/downloads/en/AppNotes/01078A.pdf [Accessed July 2020].
Search in Google Scholar Back to article

Design and Simulation of Direct and Indirect Back EMF Sliding Mode Observer for Sensorless Control of PMSM

Abstract

Paradigm

My account