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Experimental hardware specifications_
| Parameter | Value |
|---|---|
| Microcontroller | STM32F407VG (168 MHz, ARM Cortex-M4F [32-bit]) |
| DC bus voltage (Vin) | 90 VDC |
| Current sensor type | GHS 20-SME |
| Current sensor output sensitivity | 40 mV/A (typical) |
| Current sensing resolution | 12-bit ADC |
| Position sensor (for validation only) | MA702, 14-bit magnetic encoder |
| Cooling method | Aluminium heatsink and fan |
Experimental software specifications_
| Parameter | Value |
|---|---|
| Control method | FOC, HFI |
| HFI injection axis | d-axis only |
| Filter type (demodulation) | HPF and LPF (first-order digital) |
| Angle estimation method | PLL-based estimator with PI compensation |
| RMS angle error evaluation | RMSE |
| PWM switching frequency | 15 kHz |
| Proportional and integral gain values for the d-axis current controller
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| Proportional and integral gain values for the q-axis current controller
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Specifications of the OR-PmaSynRM_
| Parameter | Value | Unit |
|---|---|---|
| Phase voltage | 90 | VRMS |
| Rated current | 5.741 | ARMS |
| Reactive power | 313 | VAR |
| Output power | 1500 | W |
| Input power | 1639 | VA |
| Efficiency | 91.51 | % |
| Rated speed | 750 | RPM |
| Frequency | 50 | Hz |
| Load torque | 19.1 | Nm |
Boundaries of adaptive control parameters_
| Control parameter | Adaptation variable | Operating range | Adaptive range |
|---|---|---|---|
| Adaptive injection frequency
| Motor speed (RPM) | 0–750 RPM | 200–900 Hz |
| Adaptive injection amplitude
| Load ratio (%) | 30%–60%–90% | 8–20 V |
| Adaptive filter cut-off frequency |
| – | 200–900 Hz |
| Reference voltage limit
|
| – | 45–49 V |
RMS position error under different operating conditions_
| Test condition | Motor speed (RPM) | Load torque (Nm) | RMS error (°electrical) | Standard deviation (°electrical) | Max error (°electrical) |
|---|---|---|---|---|---|
| Low speed, light load | 150 | ≈5.7 | 1.10 | ±0.02 | 1.23 |
| Medium speed, nominal load | 450 | ≈11.5 | 1.12 | ±0.02 | 1.28 |
| High speed, high load | 750 | ≈17.2 | 1.15 | ±0.03 | 1.35 |
Comparison of rotor position estimation errors reported in various studies_
| Study | Motor type | Control method | Estimation method | Average RMS error (electrical degrees) |
|---|---|---|---|---|
| Method in Chen et al. (2024a) | PMSM | FOC | Adaptive BPF + HFI | ≈1.2° |
| Method in Tap et al. (2023) | PmaSynRM | FOC | Adaptive HFI + modified PLL | ≈1°–1.5° |
| Method in Lu et al. (2018) | IPMSM | FOC | Adaptive frequency & amplitude HFI | <3° |
| Method in Chen and Liu (2012) | IPMSM | FOC | HFI | ≈±2° |
| Method in Tongxing et al. (2019) | PMSM | FOC | Frequency self-optimized HFI + PLL | ≈±14.4° |
| Method in Kumar et al. (2019) | IPMSM | FOC | HFI + Self-adaptive PLL + adaptive amplitude | ≈1.5° |
| My work | OR-PmaSynRM | FOC | HFI + adaptive frequency + adaptive amplitude + proposed voltage limiting | ±1.15° |