Load-adaptive smooth startup method for sensorless field-oriented control of permanent magnet synchronous motors
A field oriented control (FOC) system and method provides smooth field-oriented startup for three-phase sensorless permanent magnet synchronous motors (PMSMs) despite the absence of load information. The system uses the rotor flux projection on the d- or q-axis to determine whether the stator flux current reference being applied during reference startup phase is sufficient to spin the PMSM, thereby providing smooth operation during the reference startup phase and saving energy relative to applying rated current. The system also determines a suitable initial value for the stator torque current reference to use at the start of closed-loop sensorless FOC control mode based on an angle difference between the reference and estimated angles. Since this angle difference is reflective of the load on the PMSM, the selected initial value allows the system to achieve a smooth transition from reference startup mode to closed-loop sensorless FOC control mode.
1. A system for performing field oriented control of a permanent magnet synchronous motor (PMSM), comprising:
a memory;
a processor configured to execute computer-executable components stored on the memory, the computer-executable components comprising:
a startup current reference component configured to control a stator flux current reference and a stator torque current reference of a stator control signal during a reference startup mode, wherein the startup current reference component is configured to set a value of at least one of the stator flux current reference or the stator torque current reference for the reference startup mode based on a rotor flux projection;
a speed control component configured to control the stator torque current reference during a closed-loop sensorless control mode;
a flux weakening component configured to control the stator flux current reference during the closed-loop sensorless control mode; and
a control signal output component configured to output the stator control signal based on the stator flux current reference and the stator torque current reference;
wherein the startup current reference component is further configured to determine the rotor flux projection on the reference d-axis according to
λ r,sd =λ sd −L sd I sd
where λ r,sd is the rotor flux projection on a reference d-axis of a rotary framework coordinate system, λ sd is a stator flux along the d-axis, L sd is a stator inductance along the d-axis, and I sd is a stator current along the d-axis.
2. The system of claim 1 , wherein the startup current reference component is further configured to increase the stator flux current reference during the reference startup mode, and to set a stator flux current reference value for the reference startup mode equal to a value I SD1 at a time that the rotor flux projection is determined to be equal to or greater than cos(Θ 0 )λ r , where Θ 0 is a predefined value and λ r is a rotor flux.
3. The system of claim 2 , wherein the startup current reference component is further configured to, during the reference startup mode, determine an angle difference Θ 1 between a reference angle of a vector of the stator flux current reference and an estimated angle determined based on measured stator currents, and to set an initial value of the stator torque current reference for the closed-loop sensorless control mode based on the angle difference Θ 1 .
4. The system of claim 3 , wherein the startup current reference component is further configured to set the initial value of the stator torque current reference for the closed-loop sensorless control mode equal to I SD1 sin(Θ 1 ).
5. The system of claim 3 , wherein
the startup current reference component is further configured to, during an intermediate period between the reference startup mode and the closed-loop sensorless control mode, reduce the stator flux current reference from I SD1 to zero, and increase the stator torque current reference from zero to I SD1 sin(Θ 1 ), where I SD1 sin(Θ 1 ) is the initial value of the stator torque current reference for the closed-loop sensorless control mode.
6. The system of claim 5 , wherein the startup current reference component is further configured to, during the intermediate period, transition from control based on the reference angle to control based on the estimated angle using an angle blending algorithm.
7. The system of claim 1 , further comprising an estimation component configured to determine estimated values for a position and a velocity of a permanent magnet synchronous motor (PMSM) based on back-electromagnetic force (back-EMF) values measured from windings of the PMSM.
8. The system of claim 7 , wherein the startup current reference component is further configured to determine a stator flux λ s∝ along an α-axis of a stationary framework coordinate system and a stator flux λ sβ along a β-axis of the stationary framework coordinate system according to:
λ s∝ =∫( V s∝ −R s I s∝ ) dt
λ sβ =∫( V sβ −R s I sβ ) dt
where V sα and V sβ are applied stator voltages along the α-axis and the β-axis, respectively, I sα and I sβ are measured stator currents along the α-axis and the β-axis, respectively, and R s is a stator resistance.
9. The system of claim 7 , wherein the startup current reference component is configured to determine the stator flux λ sd by performing a Park transformation on λ s∝ and λ sβ .
10. A method for performing sensorless field oriented control of a permanent magnet synchronous motor (PMSM), comprising:
determining, by a system comprising at least one processor, a rotor flux projection based on a back-electromagnetic force (back-EMF) measured from stator windings;
setting, by the system, a value I SD1 of a stator flux current reference for a reference startup mode based on the rotor flux projection;
determining, by the system, an initial value of a stator torque current reference of the stator control signal based on the value I SD1 ; and
transitioning, by the system, from the reference startup mode to a closed-loop sensorless control mode using the initial value of the stator torque current reference as a starting value;
wherein the determining the rotor flux projection comprises determining the rotor flux projection based on
λ r,sd =λ sd −L sd I sd
where λ r,sd is the rotor flux projection on a d-axis of a rotary framework coordinate system, λ sd is a stator flux along the d-axis, L sd is a stator inductance along the d-axis, and I sd is a stator current along the d-axis.
11. The method of claim 10 , wherein the setting the value I SD1 of the stator flux current reference comprises:
increasing the stator flux current reference during the reference startup mode; and
setting the value I SD1 of the stator flux current reference equal to a value of the stator flux current reference at a time that the rotor flux projection is determined to be equal to or greater than cos(Θ 0 )λ r , where Θ 0 is a predefined value and λ r is a rotor flux.
12. The method of claim 11 , wherein the determining the initial value of the stator torque current reference comprises:
determining, during the reference startup mode, an angle difference Θ 1 between a reference angle of a vector of the stator flux current reference and an estimated angle determined based on measured stator currents; and
setting, the initial value of the stator torque current reference based on the angle difference Θ 1 .
13. The method of claim 12 , wherein the setting the initial value of the stator torque current reference comprises setting the initial value equal to I SD1 sin(Θ 1 ).
14. The method of claim 12 , wherein the transitioning from the reference startup mode to the closed-loop sensorless control mode comprises:
reducing, during an intermediate period between the reference startup mode and the closed-loop sensorless control mode, the stator flux current reference from I SD1 to zero; and
increasing, during the intermediate period, the stator torque current reference from zero to I SD1 sin(Θ 1 ), where I SD1 sin(Θ 1 ) is the initial value of the stator torque current reference for the closed-loop sensorless control mode.
15. The method of claim 14 , wherein the transitioning from the reference startup mode to the closed-loop sensorless control mode further comprises transition, during the intermediate period, from control based on the reference angle to control based on the estimated angle using an angle blending algorithm.
16. The method of claim 14 , further comprising transitioning, by the system, from the closed-loop sensorless control mode to the reference startup mode, comprising:
increasing, during a subsequent intermediate period between the closed-loop sensorless control mode and the reference startup mode, the stator flux current reference from zero to I SD1 ; and
decreasing, during the subsequent intermediate period, the stator torque current reference to zero.
17. A non-transitory computer-readable medium having stored thereon computer-executable instructions that, in response to execution, cause a computer system to perform operations, comprising:
determining a rotor flux projection based on a back-electromagenetic force (back-EMF) measured from stator windings;
setting a value I SD1 of a stator flux current reference of a stator control signal for a reference startup mode based on the rotor flux projection;
determining an initial value of a stator torque current reference based on the value I SD1 ; and
transitioning from the reference startup mode to a closed-loop sensorless control mode using the initial value of the stator torque current reference as a starting value;
wherein the determining the rotor flux projection comprises determining the rotor flux projection based on
λ r,sd =λ sd −L sd I sd
where λ r,sd is the rotor flux projection on a d-axis of a rotary framework coordinate system, λ sd is a stator flux along the d-axis, L sd is a stator inductance along the d-axis, and I sd is a stator current along the d-axis.