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Abstract: A permanent magnet synchronous motor (PMSM) with One of the most commonly used methods for angular
sinusoidal flux distribution is commonly coininutated using discrete position sensing is the Hall effect sensor [3]. These coarse
rotor position feedback from Hall sensors. A commonly used stator shaft position sensing devices are mounted on the magnetic
current excitation strategy used in such a system is a six-step
axis of each stator phase winding, thus providing an
current waveform. Application of sinusoidal current waveforms is
shown to produce smooth torque in the PMSM. This paper shows aggregate resolution of 60 electrical degrees. Figs. 1 and 2
how a pseudo-sensorless rotor position estimator may be used with show how the discrete signals generated by Hall effect
Hall sensors to provide sinusoidal current excitation in place of six- sensors may be used to decode position data as well as to
step currents to reduce the torque ripple associated with the six- generate a six-step stator excitation. Operation with six-step
step strategy. Performance evaluation of the rotor position excitation tends to increase torque ripple [4], and due to the
estimator in a PMSM drive is provided through simulation. discrete nature of the feedback, does not easily allow some
advanced PMSM operating regimes to be used [ 5 ] .
Keywords: torque ripple, permanent magnet syncl~ronousmotor, Many applications may benefit from the use of sinusoidal
sensorless commutation, Hall effect sensor excitation yet, due to various constraints, do not permit the
use of an external position sensing device other than the
I. INTRODUCTION built-in Hall sensors. Thus, the designer is faced with a
choice of six-step stator excitation using the Hall Sensors, or
In recent years, the permanent magnet synchronous motor using one of the many sensorless techniques that have been
(PMSM) has become a popular choice for applications such developed for the PMSM [6-101. The six-step approach
as machine tool drives, computer peripherals, robotics, and suffers from torque ripple, and many of the sensorless
electric propulsion. Much of this popularity is due to the techniques suffer performance limitations at low speed.
PMSM’s reduced maintenance (no brushes), superior power In this paper, a method for obtaining high resolution shaft
density and efficiency, and low rotor inertia [I]. position information from coarse Hall sensor data, stator
In a PMSM, the ability to separately control the stator voltage, and stator current measurements is proposed. This
current and angle allows the choice of operating re,’mimes, method provides the reliability of the Hall sensors to
such as maximum torque per unit current and maximum commutate the machine at very low speeds, and the high
power. In addition, separate current and angle control resolution angle information needed for sinusoidal
permits flux weakening (for operation above rated speed) excitation. This pseudo-sensorless method is shown through
and phase advancing (for reluctance torque augmentation) simulation to reduce the torque ripple associated with six-
[2]. In order to individually control stator current and angle step stator currents commonly used in conjunction with Hall
and thus fully exploit the characteristics of the PMSM, high effect position sensors.
resolution rotor angle information is required - usually from
a device such as a resolver or encoder. These high resolution 11. PMSM MACHINE MODEL
position sensors, which are usually attached to the rotor, add
length to the machine, raise the system cost, increase rotor A two pole, 3 phase salient pole machine is shown in Fig.
inertia, and require additional cabling. 1. For such a machine, the flux linkage and voltage
equations are given in the stationary reference frame [ 111.
The flux linkages of the PMSM machine in the stationary
PE-959A-EC-0-05-1997 A paper recommended and approved by the reference frame may be represented by
IEEE Electric Machinery Committee of the IEEE Power Engineering
Society for publication in the IEEE Transactions on Energy
Conversion. Manuscript submitted January 2,1997; made available for
printing May 23, 1997.
hm cos(8)
2a where the flux terms are defined in (2), and di is the
increment in the phase current. The torque may then be
derived from the coenergy expression
-.a0
T(i~,ib,i~,O)=
awc (5)
where L v are the self and mutual inductances for each phase,
h,is the flux due to the permanent magnet of the rotor, and
8 is the rotor angle. The self and mutual inductances for the Using (2) and (3) to obtain the flux (A) expressions, the
PMSM may be written as shown in (3), where the terms LI, coenergy function can be found to be
La,, and L, represent leakage, nominal, and position 1
dependent inductance terms, respectively: Wc = -[ ~ u i+;~ 2 z i-+i ~33i3+[
Luiaib + ~ u i+ ~~ z ii iC]
b~
2
2n 2n . (6)
Lll(8) =Ltl+La,-LsCOS(28) +hm[cos(8)ia+cos(8--)ib+cos(8 +-)ic].
3 3
2n
L22 (e) = Ll+ La, - L, cos(28 + -1 Using (9,and assuming a non-salient rotor, the torque for
3
2n the machine may now be written as
~ , , ( e )= L~+L,,- L ~ C O S --I
(~B
3 2n 2n
T = -hm[sin(8) i,+sin(8--j j b +sin(O+-)ic]. (7)
2n (3) 3 3
L12(0)=L21(0)= - 2
Luv
- L, cos(28 - -)
3 Next, we may write the generated back emf expression as
r 1 r 1
h cos(0) sin(@)
[
27c 2n
hnrcos(8 --) = -0L Slll(0 --) (8)
=$xnl 3
27t
cos(e + -) sin(8 +-)
3
2n
3 - - 3 -
- 30°to 30' 1 o 0
30°t0900 1 1 0
90 9 0 1500 0 1 d axis where e, represents the back emf of each phase and 0 1s the
1500 to 2100
210O to 270°
0
0
1
0
/ rotor speed in electrical radians per second. Using (8), we
270° to 330° 1 0 inay rewiite (7) in terms of the back emf as
An expression for the torque generated by the PMSM may where 1, is the amplitude of the phase currents. The
be obtained by using the coenergy of the electromagnetic resulting torque expression for the currents described by (10)
system [8]. The coenergy is defined as is
259
amplifier. The output of the amplifier represents the voltage
required to force the phase current to its reference value.
This shows that for the sinusoidal phase currents with a
- 7
Two techniques are commonly used for the commutation 0.2 0.4
time (5)
0.6 0.8
i .;.-.. Y
With Hall sensor feedback, an average 90" torque angle
may be maintained by forcing it to remain between 60" and
120". When the torque angle has fallen to 60", the drive 0 2
electronics directs the current in the stator such that the
torque angle is increased to 120°, and keeps it there for the
next 60" of rotation. Clearly, for six-step commutation, the
forced stator currents will not match the sinusoidal back emf
characteristic of the PMSM, and torque ripple' will result.
The effect of this torque ripple tends to be a slight kick at the
..
commutation points, which may be detrimental to high
performance positioning and velocity regulation
applications.
Several simulations of the PMSM with Hall sensor 0.2 0 4
time (s)
0 6 0.8
I
2 7 2 75 2 8 2 85 2 0 2 05 3 0 02 0 4 06 0 8 1
-1,
a' I
I
, I 1 , I
0 2 0 4 0 6 0 8 1
. . .
-1
.......... 1 ..........i.. s I I I I
/ i
I
Fig. 3b. Torque, velocity, and actual position for six-step current.
3
1............ i i
............ .......................... j.....
dz -0 0 2 0 4 0 6 0 8
tim e (s)
I
Rotor Position (Selectable - Hall Sensor or High Resolution)
Fig. 4. PMSM current controller block diagram.
I
glo - ........... ............
0-, -
0
0 0.2
1 ..I
I
0.4
I
.....
time (s)
I
0 6
.......
0.8
,
Fig. 5b. Torque, m o r angle, aud shaft speed for sinusoidal current.
B . Sinusoidal Commutation
while the motor is operating under heavy load torque at low tFl" x
speed.
A much higher resolution rotor position sensor is
required for sinusoidal commutation if smooth rotation at
low speeds is desired. In this way, it is possible to maintain
a constant torque angle very accurately, resulting in very
smooth low speed rotatioil and negligible torque ripple. Fig. 6 Block diagram of rotor position estimator.
The results of a simulation of a sinusoidally-fed PMSM
are shown in Fig. 5. The current controller shown in Fig. 4 h,,, = j (v - iR) , (12)
was used for the simulations with the assumption that exact
rotor position is available. As expected, there is no torque where v, and i are the three-phase flux linkage estimate,
ripple. voltage. and current vectors defined in (1).
This flux linkage estimate may then be used to generate a
IV. ROTOR POSITION ESTIMATOR coarse current estimate by using (2) and the decoded Hall
sensor data. The current estimate error vector, I,,, , is then
The block diagram of a high resolution rotor position calculated from the difference between measuied stator
estimator developed is shown in Fig. 6. Inputs to the currents and the current estimate vector.
position estimator are the PMSM stator currents, voltages, A position error, Ae, which represents a measure of the
and the Hall sensors. The output is a high resolution error between the coarse Hall sensor position data and the
estimate of the rotor position. actual rotor position, may then be formed. Since the flux
The flux linkages may be estimated by rearranging (1) and linkage is a function of the stator currents and the rotor
integrating: position, the scalar A8 may be calculated from the
permanent magnet flux linkage vector, the inductance
~
263
matrix, the current estimation error vector, as shown in (13). rotor position estimator tracks the actual position well, the
The flux linkage estimate is assumed to be correct when exception being at very low speeds. The tracking error at
=[[$r[$IT[$]
calculating A0 , low speeds may be attributed to the lack of a developed back
emf under these conditions. Recall from (12) that the back
T
emf is integrated in the estimation of the flux vectors.
A0 [AX-LAi],
8 , I
6 =0h,,+A8. (14)
Finally, the position estimate is used to calculate the error in
the estimated flux linkages. This flux correction loop is
necessary to remove any accumulated errors due to the
t i m e (s)
integration process, measurement errors, and uncertainty in
Fig. 8 Response of rotor angle estimator to step load change
the initial conditions of the flux linkages.
The flux correction process is performed by utilizing the
Fig. 8 displays the rotor position estimation performance
high resolution position estimate and the flux estimate to due to a step change in the load torque. For this test, a step
obtain a high resolution current estimate I* via (2). Another load torque is applied to reverse the acceleration of the rotor
current estimation error I*err is then formed from the at 0.5 seconds. It is seen from Fig. 8 that the step load
difference between the measured current and this high change does not have an effect on the position estimate.
resolution current estimate. A measure of the flux estimation
error may then be formed in a manner similar to the V. SYSTEM SIMULATION
formation of (13). In (13), the flux estimate was assumed to
be correct (AM).To calculate the flux correction, however, In order to generate sinusoidal stator currents (and thus
the position estimate is assumed to be correct (A0=0). Thus, reduce torque ripple) without the use of a high resolution
the flux correction is calculated as rotor position transducer, the rotor position estimator shown
Ai=-AI*
ai in Fig. 6 is used. A block diagram of the system used to run
ai the simulations is shown in Fig. 9. The motor parameters
used in the simulations are
The rotor position estimator shown in Fig. 6 was used in a
R = 1.91!2, L,, = 9.55 mH,
series of system simulations. The PMSM was subjected to
step changes in the current command and load torque. L, = 0, K r =.332 * - vA , 6 poles.
7 , I
Lit” c (6)
Fig. 7. Actual and estimated position for step cunent reversal at 0.5 sec.
I I’
Fig. 7 shows a comparison of the estimated angular
Fig. 9. Block diagram of pseudo-sensorless system.
position and the actual rotor position for a step change in the
current command at 0.5 seconds. In this test, the rotor is
Fig. 10 shows a comparisoii of the resulting torque during
initially at rest, and is accelerated through a constant torque an instant current reversal at 0.5 sec. for both the simulated
command in the positive direction. At 0.5 seconds, the
torque command is reversed. It is clear in Fig. 7 [hat the
meudo-sensorless svstem and an ideal system for which the
rotor position is known exactly. The data of Fig. 10 shows
262
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lime (n)
0.75 0 8 0.85 0.9 Trans. on /ndustrial Electronics vol. 41. no. 1,Pp. 91-95, Feb. 1994.
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40 I I I I I I I [10]J.S. Kin and S.K. SUI, “New aproach for high peifonnance PMSM drives
I