Stator resistance adaptation in sensorless PMSM drives
View Patent ↗A method of estimating stator resistance of a permanent magnet synchronous machine, when the permanent magnet synchronous machine is controlled with an inverter using a control system having an adaptive observer which is augmented with a signal injection, the adaptive observer having a stator resistance estimate ({circumflex over (R)} s ) as a parameter, in which method an error signal (ε) is obtained from the signal injection, a speed correction term (ω ε ) is calculated from the error signal (ε), the rotor position estimate is corrected using the speed correction term (ω ε ) in the adaptive observer, whereby the error signal (ε) is driven to zero. The method comprises the step of correcting the value of the stator resistance estimate ({circumflex over (R)} s ) in the adaptive observer when the speed correction term (ω ε ) differs from zero.
1. A method of estimating stator resistance of a permanent magnet synchronous machine, when the permanent magnet synchronous machine is controlled with an inverter using a control system having an adaptive observer which is augmented with a signal injection, the adaptive observer having a stator resistance estimate ({circumflex over (R)} s ) as a parameter, the method comprising
obtaining an error signal (ε) from the signal injections;
calculating a speed correction term (ω ε ) from the error signal (ε);
correcting a rotor position estimate using the speed correction term (ω ε ) in the adaptive observer, whereby the error signal (ε) is driven to zero; and
correcting the value of the stator resistance estimate ({circumflex over (R)} s ) in the adaptive observer when the speed correction term (ω ε ) differs from zero.
2. A method according to claim 1 , wherein the step of correcting the value of the stator resistance estimate comprises a step in which the speed correction term (ω ε ) is integrated to zero, thereby adapting the resistance estimate ({circumflex over (R)} s ) to correspond with an actual stator resistance (R s ).
3. A method according to claim 2 , wherein the integration of the speed correction term to zero comprises using an adaptation gain.
4. A method according to claim 3 , wherein the sign of a the adaptation gain is changed according to the sign of q-component of a stator current (i q ).
5. A method according to claim 1 , wherein the value of speed correction term (ω ε ) is the negation of the product of a resistance estimation error and a q component of a stator current divided by a permanent magnet flux, whereby a transfer function for driving the speed correction term to zero and for stator resistance adaptation is G R (s)=−k R /s, and the adaptation is tuned such that α R =i q k R /ψ pm , where k R is the adaptation gain, s is integration operator, α R is the bandwidth of the closed-loop system which is kept positive, i q is the q component of the stator current, and ψ pm is the permanent magnet flux of the permanent magnet synchronous machine.
6. A method according to claim 1 , wherein the step of correcting the value of the stator resistance estimate comprises a step in which a PI-controller is used for controlling the speed correction term to zero thereby adapting the resistance estimate ({circumflex over (R)} s ) to correspond with an actual stator resistance (R s ).
7. A method according to claim 2 , wherein the value of speed correction term (ω ε ) is the negation of the product of a resistance estimation error and a q component of a stator current divided by a permanent magnet flux, whereby the transfer function for driving the speed correction term to zero and for stator resistance adaptation is G R (s)=−k R /s, and the adaptation is tuned such that α R =i q k R /ψ pm , where k R is the adaptation gain, s is integration operator, α R is the bandwidth of the closed-loop system which is kept positive, i q is the q component of the stator current, and ψ pm is the permanent magnet flux of the permanent magnet synchronous machine.
8. A method according to claim 3 , wherein the value of speed correction term (ω ε ) is the negation of the product of a resistance estimation error and a q component of a stator current divided by a permanent magnet flux, whereby the transfer function for driving the speed correction term to zero and for stator resistance adaptation is G R (s)=−k R /s, and the adaptation is tuned such that α R =i q k R /ψ pm , where k R is the adaptation gain, s is integration operator, α R is the bandwidth of the closed-loop system which is kept positive, i q is the q component of the stator current, and ψ pm is the permanent magnet flux of the permanent magnet synchronous machine.
9. A method according to claim 4 , wherein the value of speed correction term (ω ε ) is the negation of the product of a resistance estimation error and a q component of the stator current divided by a permanent magnet flux, whereby the transfer function for driving the speed correction term to zero and for stator resistance adaptation is G R (s)=−k R /s, and the adaptation is tuned such that α R =i q k R /ψ pm , where k R is the adaptation gain, s is integration operator, α R is the bandwidth of the closed-loop system which is kept positive, i q is the q component of the stator current, and ψ pm is the permanent magnet flux of the permanent magnet synchronous machine.