Low speed sensorless observation of permanent magnet synchronous motors
A motor system can include a motor, the motor including at least a rotor, and a controller configured to operate the motor. The controller can be configured to perform operations for operating the motor. The operations can include determining an initial estimated rotor angle, determining one or more estimated currents defined by an estimated rotating reference frame based at least in part on the estimated rotor angle, obtaining one or more current measurements of one or more measured currents respective to the one or more estimated currents, determining one or more current errors based at least in part on a subtractive combination of the one or more estimated currents and the one or more measured currents, determining one or more rotor flux estimates based at least in part on the one or more current errors, the one or more rotor flux estimates comprising at least an estimated δ-directed rotor flux vector, and determining an estimated rotor speed based at least in part on an integral of the estimated δ-directed rotor flux vector.
1. A motor system comprising:
a motor, the motor comprising at least a rotor; and
a controller configured to operate the motor, the controller configured to perform operations for operating the motor, wherein the operations comprise:
determining an initial estimated rotor angle;
determining one or more estimated currents defined by an estimated rotating reference frame based at least in part on the estimated rotor angle;
obtaining one or more current measurements of one or more measured currents respective to the one or more estimated currents;
determining one or more current errors based at least in part on a subtractive combination of the one or more estimated currents and the one or more measured currents;
determining one or more rotor flux estimates based at least in part on the one or more current errors, the one or more rotor flux estimates comprising at least an estimated δ-directed rotor flux vector; and
determining an estimated rotor speed based at least in part on an integral of the estimated δ-directed rotor flux vector.
2. The motor system of claim 1 , wherein the operations further comprise determining an updated estimated rotor angle of the rotor based at least in part on the estimated rotor speed.
3. The motor system of claim 2 , wherein the updated estimated rotor angle of the rotor is determined based at least in part on an integral of a sum of the estimated rotor speed and the estimated δ-directed rotor flux vector.
4. The motor system of claim 3 , wherein the sum is weighted based on one or more feedback gains.
5. The motor system of claim 4 , wherein the updated estimated rotor angle is determined as a function of an integral of the estimated rotor speed summed with an angle error multiplied by an angle feedback coefficient.
6. The motor system of claim 1 , wherein the one or more estimated currents are determined based at least in part on a current dynamic model relating the estimated rotor angle to the one or more estimated currents.
7. The motor system of claim 6 , wherein the current dynamic model is modeled as a relationship between voltages in the rotating frame and a differential current equation, wherein at least one coefficient of the differential current equation comprises a derivative of the estimated rotor angle and wherein at least one coefficient of the differential current equation comprises the one or more rotor flux estimates.
8. The motor system of claim 1 , wherein obtaining the one or more current measurements comprises:
obtaining the one or more current measurements in a three-phase reference frame; and
transforming the one or more current measurements in a three-phase reference frame to the one or more current measurements in the estimated rotating reference frame.
9. The motor system of claim 8 , wherein transforming the one or more current measurements comprises implementing a Park transform and a Clarke transform with respect to the estimated rotor angle.
10. The motor system of claim 1 , wherein determining one or more current errors based at least in part on a subtractive combination of the one or more estimated currents and the one or more measured currents comprises subtracting the one or more measured currents from the one or more measured currents.
11. The motor system of claim 1 , wherein the one or more rotor flux estimates are determined according to an integral over an additive combination of a first feedback-weighted current error of the one or more current errors and a multiplicative combination of the estimated rotor angle and a second current error of the one or more current errors.
12. The motor system of claim 10 , wherein the first feedback-weighted current error and the second current error are positioned with respect to differing axes of the estimated rotating reference frame.
13. The motor system of claim 11 , wherein the rotor flux estimates are defined in Polar coordinates.
14. The motor system of claim 1 , wherein the estimated rotor speed is determined based at least in part on an integral of the estimated δ-directed rotor flux vector.
15. The motor system of claim 14 , wherein the estimated δ-directed rotor flux vector is weighted by a feedback gain in the integral.
16. The motor system of claim 1 , wherein the operations further comprise modifying control of the motor based at least in part on the estimated rotor speed.
17. A motorized appliance, comprising:
at least one motorized component; and
a motor system configured to drive the at least one motorized appliance; wherein the motor system comprises:
a motor, the motor comprising at least a rotor; and
a controller configured to operate the motor, the controller configured to perform operations for operating the motor, wherein the operations comprise:
determining an initial estimated rotor angle;
determining one or more estimated currents defined by an estimated rotating reference frame based at least in part on the estimated rotor angle;
obtaining one or more current measurements of one or more measured currents respective to the one or more estimated currents;
determining one or more current errors based at least in part on a subtractive combination of the one or more estimated currents and the one or more measured currents;
determining one or more rotor flux estimates based at least in part on the one or more current errors, the one or more rotor flux estimates comprising at least an estimated δ-directed rotor flux vector; and
determining an estimated rotor speed based at least in part on an integral of the estimated δ-directed rotor flux vector.
18. The motorized appliance of claim 17 , wherein the motorized appliance comprises a washing machine, and wherein the motorized component comprises a wash basket.
19. The motorized appliance of claim 18 , wherein the operations comprise implementing a wash cycle by the washing machine.
20. The motorized appliance of claim 17 , wherein the operations further comprise determining an updated estimated rotor angle of the rotor based at least in part on the estimated rotor speed.