US 7,072,790 B2 · Shaft sensorless angular position and velocity estimation for a dynamoelectric machine based on extended rotor flux

Abstract

A shaft sensorless rotor angular position and velocity sensing system for a ynamoelectric machine that includes: a reference frame transformation function for transforming measured currents and potentials applied to a stator of the dynamoelectric machine to a two-phase α-β stationary frame to produce transformed currents Iα,Iβ and transformed potentials Vα,Vβ; first and second multipliers to produce signals Iα*RS,Iβ*RS; first and second summers to produce signals Vα,−Iα*RS,Vβ−Iβ*RS; first and second lag functions to produce signals 1 s + ω i ⁢ ( V α - I α * R s ) , 1 s + ω i ⁢ ( V β - I β * R s ) ; third and fourth multipliers to produce signals Iα*Lq,Iβ*Lq; third and fourth summers to produce signals 1 s + ω i ⁢ ( V α - I α * R s ) - I α * L q , 1 s + ω i ⁢ ( V β - I β * R s ) - I β * L q that correspond to extended rotor flux values λext—α,λext—β; and a phase lock loop (PLL) to derive estimated rotor angular position and velocity values {circumflex over (θ)}, {circumflex over (ω)} for the dynamoelectric machine from the extended rotor flux values λext—α,λext—β.

Claims26

Dependent claims

A method of detecting rotor angular position and velocity sensing for a polyphase alternating current (AC) dynamoelectric machine comprising the steps of:

measuring the AC currents and potentials applied to a stator of the dynamoelectric machine;
transforming the measured currents and potentials to a two-phase α-β stationary frame to produce transformed currents Iα,Iβ and transformed potentials Vα,Vβ;
multiplying the transformed currents Iα,Iβ by the resistance Rs of the stator to produce signals Iα*Rs,Iβ*Rs;
subtracting the signals Iα*Rs,Iβ*Rs from the respective transformed potentials Vα,Vβ to produce signals Vα,−Iα*Rs,Vβ−Iβ*Rs;
multiplying signals Vα−Iα*Rs,Vβ−Iβ*Rs;
by a lag function
1
s
+
ω
i
,
wherein ωi is a selected corner frequency for the lag function, to produce signals
1
s
+
ω
i
⁢
(
V
α
-
I
α
*
R
s
)
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
;
multiplying the transformed currents Iα,Iβ by the q-axis inductance Lq of the stator to produce signals Iα*Lq,Iβ*Lq;
subtracting the signals Iα*Lq,Iβ*Lq from the respective signals
1
s
+
ω
i
⁢
(
V
α
-
I
α
*
R
s
)
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
to produce signal
1
s
+
ω
i
⁢
(
V
α
-
I
α
*
R
s
)
-
I
α
*
L
q
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
-
I
β
*
L
q
that correspond to extended rotor flux values λext—α,λext—β;
and
applying the extended rotor flux values λext—α,λext—β to a phase lock loop (PLL) to derive estimated rotor angular position and velocity values {circumflex over (θ)},{circumflex over (ω)} for the dynamoelectric machine.

128 more elements

A method of detecting rotor angular position and velocity sensing for a polyphase alternating current (AC) dynamoelectric machine comprising the steps of:

measuring the AC currents and potentials applied to a stator of the dynamoelectric machine;
transforming the measured currents and potentials to a two-phase α-β stationary frame to produce transformed currents Iα,Iβ and transformed potentials Vα,Vβ;
multiplying the transformed currents Iα,Iβ by the resistance Rs of the stator to produce signals Iα*Rs,Iβ*Rs;
subtracting the signals Iα*Rs,Iβ*Rs from the respective transformed potentials Vα,Vβ to produce signals Vα−Iα*Rs,Vβ-Iβ*Rs;
multiplying signals Vα−Iα*Rs,Vβ−Iβ*Rs;
by a lag function
1
s
+
ω
i
,
wherein ωi is a selected corner frequency for the lag function, to produce signals
1
s
+
ω
i
⁢
(
V
α
-
I
α
*
R
s
)
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
;
multiplying the transformed currents Iα,Iβ by the q-axis inductance Lq of the stator to produce signals Iα*Lq,Iβ*Lq;
subtracting the signals Iα*Lq,Iβ*Lq from the respective signals
1
s
+
ω
i
⁢
(
V
α
⁢
I
α
*
R
s
)
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
to produce signals
1
s
+
ω
i
⁢
(
V
α
⁢
I
α
*
R
s
)
-
I
α
*
L
q
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
-
I
β
*
L
q
that correspond to extended rotor flux values λext—α,λext—β;
multiplying the estimated α-axis extended rotor flux λext—α with a sine function feedback signal from a sine function to produce a α-axis multiplier output signal;
multiplying the estimated β-axis extended rotor flux λext—β with a cosine function feedback signal from a cosine function to produce a β-axis multiplier output signal;
subtracting the α-axis multiplier output signal from the β-axis multiplier output signal to produce a difference signal;
multiplying the difference signal by a proportional plus integral regulator (PI) function
K
p
+
K
i
s
to produce a PI output signal, wherein Kp and Ki are the proportional and integral gains of the PI function, respectively;
multiplying the PI output signal by an integral function
1
s
to produce a integration output signal;
and
multiplying the integration output signal by a sine function to produce the sine feedback signal;
and
multiplying the integration output signal by a cosine function to produce the cosine feedback signal;
wherein the estimated rotor angular position and velocity values {circumflex over (θ)},{circumflex over (θ)} for the dynamoelectric machine are derived from the PI output and integration output signals.

146 more elements

A system for detecting rotor angular position and velocity sensing for a polyphase alternating current (AC) dynamoelectric machine comprising:

a reference frame transformation function for transforming measured currents and potentials applied to a stator of the dynamoelectric machine to a two-phase α-β stationary frame to produce transformed currents Iα,Iβ and transformed potentials Vα,Vβ;
first and second multipliers for multiplying the transformed currents Iα,Iβ by the resistance Rs of the stator to produce signals Iα*Rs,Iβ*Rs;
first and second summers for subtracting the signals Iα*Rs,Iβ*Rs from the respective transformed potentials Vα,Vβ to produce signals Vα,−Iα*Rs,Vβ−Iβ,*Rs;
first and second lag functions for multiplying signals Vα−Iα*Rs,Vβ−Iβ*Rs;
by a lag function
1
s
+
ω
i
,
wherein ωi is a selected corner frequency for the lag function, to produce signals
1
s
+
ω
i
⁢
(
V
α
-
I
α
*
R
s
)
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
;
third and fourth multipliers the transformed currents Iα,Iβ by the q-axis inductance Lq of the stator to produce signals Iα*Lq,Iβ*Lq;
third and fourth summers for subtracting the signals Iα,*Lq,Iβ*Lq from the respective signals
1
s
+
ω
i
⁢
(
V
α
-
I
α
*
R
s
)
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
to produce signals
1
s
+
ω
i
⁢
(
V
α
-
I
α
*
R
s
)
-
I
α
*
L
q
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
-
I
β
*
L
q
that correspond to extended rotor flux values λext—α,λext—β;
and
a phase lock loop (PLL) to derive estimated rotor angular position and velocity values {circumflex over (θ)},{circumflex over (ω)} for the dynamoelectric machine from the extended rotor flux values λext—α,λext—β.

127 more elements

A system for detecting rotor angular position and velocity sensing for a polyphase alternating current (AC) dynamoelectric machine comprising:

a reference frame transformation function for transforming measured currents and potentials applied to a stator of the dynamoelectric machine to a two-phase α-β stationary frame to produce transformed currents Iα,Iβ and transformed potentials Vα,Vβ;
first and second multipliers for multiplying the transformed currents Iα,Iβ by the resistance Rs of the stator to produce signals Iα*Rs,Iβ*Rs;
first and second summers for subtracting the signals Iα*Rs,Iβ*Rs from the respective transformed potentials Vα,Vβ to produce signals Vα,−Iα*Rs,Vβ−Iβ*Rs;
first and second lag functions for multiplying signals Vα−Iα*Rs,Vβ−Iβ*Rs;
by a lag function
1
s
+
ω
i
,
wherein ωi corner frequency for the lag function, to produce signals
1
s
+
ω
i
⁢
(
V
α
-
I
α
*
R
s
)
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
;
third and fourth multipliers the transformed currents Iα,Iβ by the q-axis inductance Lq of the stator to produce signals Iα*Lq,Iβ*Lq;
third and fourth summers for subtracting the signals Iα*Lq,Iβ*Lq from the respective signals
1
s
+
ω
i
⁢
(
V
α
-
I
α
*
R
s
)
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
to produce signals
1
s
+
ω
i
⁢
(
V
α
-
I
α
*
R
s
)
-
I
α
*
L
q
,
1
s
+
ω
i
⁢
(
V
β
-
I
β
*
R
s
)
-
I
β
*
L
q
that correspond to extended rotor flux values λext—α,λext—β;
a fifth multiplier for multiplying the estimated α-axis extended rotor flux λext—α with a sine function feedback signal to produce a α-axis multiplier output signal;
a sixth multiplier for multiplying the estimated β-axis extended rotor flux λext—β with a cosine function feedback signal to produce a β-axis multiplier output signal;
a fifth summer for subtracting the α-axis multiplier output signal from the β-axis multiplier output signal to produce a difference signal;
a proportional plus integral regulator (PI) function for multiplying the difference signal by a function
K
p
+
K
i
s
to produce a PI output signal, wherein Kp and Ki are the proportional and integral gains of the PI function, respectively;
an integral function for multiplying the PI output signal by a function
1
s
to produce a integration output signal;
and
a sine function for multiplying the integration output signal by the sine function to produce the sine feedback signal;
and
a cosine function for multiplying the integration output signal by the cosine function to produce the cosine feedback signal;
wherein the estimated rotor angular position and velocity values {circumflex over (θ)},{circumflex over (ω)} for the dynamoelectric machine are derived from the PI output and integration output signals.

145 more elements

Dependencies are inferred from the claim text.

Shaft sensorless angular position and velocity estimation for a dynamoelectric machine based on extended rotor flux

Life of this patent

Shaft sensorless angular position and velocity estimation for a dynamoelectric machine based on extended rotor flux

Life of this patent

Abstract

Claims26