Method of position sensorless control of an electrical machine
A position sensorless control methodology for electrical machines using high frequency flux vector signal injection in the estimated rotor flux rotational reference frame is provided. In one aspect, the estimated position error function is derived directly from the stator flux equation without any simplification. The method is applicable for electrical generator motoring mode operation from standstill and power generation mode operation.
1. A method for sensorless position control of an electrical machine, the method comprising:
generating a flux vector reference signal;
modulating the flux vector reference signal by injecting a high frequency carrier signal;
determining a position error function signal from the modulated flux vector reference signal;
estimating a speed of a rotor of the electrical machine based on the position error function signal;
estimating an angular position of the rotor from the estimated speed; and
applying the estimated rotor speed and the estimated angular rotor position to a controller comprising a processor which, in operation, controls the electrical machine responsive to the estimated rotor speed and the estimated angular rotor position,
wherein the flux vector reference signal is generated from a power feedback control signal.
2. The method of claim 1 , wherein the estimated rotor speed and the estimated angular rotor position are applied in a flux vector control system of the electrical machine.
3. The method of claim 1 , wherein the electrical machine comprises any one of an interior permanent magnet machine, a reluctance machine, and an electrical generator.
4. The method of claim 1 , wherein the flux vector reference signal is any one of a magnetization flux reference signal and a field power flux reference signal.
5. The method of claim 1 , further comprising:
generating a magnetization flux reference signal and a field power flux reference signal from a power feedback control signal;
determining a stator flux amplitude and a load angle from the magnetization flux reference signal and the field power flux reference signal; and
obtaining a stator flux position from at least the load angle.
6. The method of claim 5 , wherein the stator flux position is used in transforming the flux vector reference signal from a natural frame to a stator stationary reference frame.
7. The method of claim 5 , wherein the load angle is combined with the estimated angular rotor position to obtain the stator flux position.
8. The method of claim 1 , wherein determining the position error function signal comprises:
measuring at least one current signal of the electrical machine;
band-pass filtering the at least one current signal to extract a response signal to the injected high frequency signal carrier; and
demodulating the extracted response signal to derive the position error function signal.
9. The method of claim 1 , wherein estimating the rotor speed comprises:
applying a proportional integrator (PI) regulator to the position error function signal to derive an estimated speed error signal;
low-pass filtering a generator speed control signal to derive a speed feed forward signal; and
summing the estimated speed error signal and the speed feed forward signal to derive the estimated rotor speed.
10. The method of claim 9 , wherein estimating the rotor position comprises the step of integrating the estimated speed so as to derive the estimated rotor position.
11. The method of claim 1 , wherein estimating the rotor position comprises the initialization of the rotor position estimate.
12. The method of claim 11 , wherein the initialization comprises obtaining an initial rotor position from any of an estimation by alignment of axis at standstill using flux vector control, a measurement of stator voltage at an open circuit condition, and an encoder measurement prior to an encoder fault.
13. The method of claim 1 , wherein the high frequency signal carrier has a frequency of at least 500 Hz.
14. A wind turbine, comprising:
an electrical machine; and
an apparatus for sensorless position control of the electrical machine, the apparatus comprising a processor and adapted to carry out an operation, comprising:
generating a flux vector reference signal;
modulating the flux vector reference signal by injecting a high frequency carrier signal;
determining a position error function signal from the modulated flux vector reference signal;
estimating a speed of a rotor of the electrical machine based on the position error function signal;
estimating an angular position of the rotor from the estimated speed; and
controlling the electrical machine responsive to the estimated rotor speed and the estimated angular rotor position,
wherein the flux vector reference signal is generated from a power feedback control signal.
15. A computer-readable medium having a computer program recorded thereon, the computer program comprising instructions which, when executed by a processor, cause the processor to perform an operation for sensorless position control of an electrical machine in a wind turbine, the operation comprising:
generating a flux vector reference signal;
modulating the flux vector reference signal by injecting a high frequency carrier signal;
determining a position error function signal from the modulated flux vector reference signal;
estimating a speed of a rotor of the electrical machine based on the position error function signal;
estimating an angular position of the rotor from the estimated speed; and
controlling the electrical machine responsive to the estimated rotor speed and the estimated angular rotor position,
wherein the flux vector reference signal is generated from a power feedback control signal.