Backstepping Control of Speed Sensorless Permanent Magnet Synchronous Motor Based on Slide Model Observer

Cai-Xue Chen; Yun-Xiang Xie; Yong-Hong Lan

doi:10.1007/s11633-015-0881-2

April 2015

Article Contents

Cai-Xue Chen, Yun-Xiang Xie and Yong-Hong Lan. Backstepping Control of Speed Sensorless Permanent Magnet Synchronous Motor Based on Slide Model Observer. International Journal of Automation and Computing, vol. 12, no. 2, pp. 149-155, 2015. doi: 10.1007/s11633-015-0881-2

Cite as: Cai-Xue Chen, Yun-Xiang Xie and Yong-Hong Lan. Backstepping Control of Speed Sensorless Permanent Magnet Synchronous Motor Based on Slide Model Observer. International Journal of Automation and Computing, vol. 12, no. 2, pp. 149-155, 2015. doi: 10.1007/s11633-015-0881-2

Backstepping Control of Speed Sensorless Permanent Magnet Synchronous Motor Based on Slide Model Observer

School of Electric Power, South China University of Technology, Guangzhou 510641, China;
School of Information Engineering, Xiangtan University, Xiangtan 411105, China

Received: 2014-03-20

Fund Project:

This work was supported by National Natural Science Foundation of China (Nos. 61104072 and 11271309).

Abstract

This paper presents a backstepping control method for speed sensorless permanent magnet synchronous motor based on slide model observer. First, a comprehensive dynamical model of the permanent magnet synchronous motor (PMSM) in d-q frame and its space-state equation are established. The slide model control method is used to estimate the electromotive force of PMSM under static frame, while the position of rotor and its actual speed are estimated by using phase loop lock (PLL) method. Next, using Lyapunov stability theorem, the asymptotical stability condition of the slide model observer is presented. Furthermore, based on the backstepping control theory, the PMSM rotor speed and current tracking backstepping controllers are designed, because such controllers display excellent speed tracking and anti-disturbance performance. Finally, Matlab simulation results show that the slide model observer can not only estimate the rotor position and speed of the PMSM accurately, but also ensure the asymptotical stability of the system and effective adjustment of rotor speed and current.
- Permanent magnet synchronous motor (PMSM),
- slide model observer,
- backstepping control,
- speed sensorless,
- alternating current (AC)

References

[1]	S. Bolognani, R. Oboe, M. Zigliotto. Sensorless full-digital PMSM drive with EKF estimation of speed and rotor posi-tion. IEEE Transactions on Industrial Electronics, vol. 46, no. 1, pp. 184-191, 1999.
[2]	Z. Q. Chen, M. Tomita, S. Doki, S. Okuma. New adap-tive sliding observers for position-and velocity-sensorless controls of brushless DC motors. IEEE Transactions on In-dustrial Electronics, vol. 47, no. 3, pp. 582-591, 2000.
[3]	S. Q. Zheng, X. Q. Tang, B. Song, S. W. Lu, B. S. Ye. Sta-ble adaptive PI control for permanent magnet synchronous motor drive based on improved JITL technique. ISA Trans-actions, vol. 52, no. 4, pp. 539-549, 2013.
[4]	G. D. Andreescu, C. I. Pitic, F. Blaabjerg, I. Boldea. Com-bined flux observer with signal injection enhancement for wide speed range sensorless direct torque control of IPMSM drives. IEEE Transactions on Energy Conversion, vol. 23, no. 2, pp. 393-402, 2008.
[5]	M. A. Hamida, A. Glumineau, J. de Leon. Robust integral backstepping control for sensorless IPM synchronous motor controller. Journal of the Franklin Institute, vol. 349, no. 5, pp. 1734-1757, 2012.
[6]	D. Q. Wei, B. Zhang, X. S. Luo. Adaptive synchronization of chaos in permanent magnet synchronous motors based on passivity theory. Chinese Physics B, vol. 21, no. 3, Arti-cle number 030504-1-030504-6, 2012.
[7]	D. Q. Wei, B. Zhang, X. S. Luo, D. Y. Qiu. Nonlinear dynamics of permanent-magnet synchronous motor with v/f control. Communications in Theoretical Physics, vol. 59, no. 3, pp. 302-306, 2013.
[8]	F. Cupertino, P. Giangrande, G. Pellegrino, S. Luigi. End effects in linear tubular motors and compensated posi-tion sensorless control based on pulsating voltage injection. IEEE Transactions on Industrial Electronics, vol. 58, no. 2, pp. 494-502, 2011.
[9]	S. Y. Jung, K. Nam. PMSM control based on edge-field hall sensor signals through ANF-PLL processing. IEEE Trans-actions on Industrial Electronics, vol. 58, no. 11, pp. 5121-5129, 2011.
[10]	F. Genduso, R. Miccli, C. Rando, G. R. Galluzzo. Back EMF sensorless-control algorithm for high-dynamic perfor-mance PMSM. IEEE Transactions on Industrial Electron-ics, vol. 57, no. 6, pp. 2092-2100, 2010.
[11]	T. Orlowska-Kowalska, M. Dybkowski. Stator-current-based MRAS estimator for a wide range speed-sensorless induction-motor drive. IEEE Transactions on Industrial Electronics, vol. 57, no. 4, pp. 1296-1308, 2010.
[12]	O. Aydogmus, S. SÄunter. Implementation of EKF based sensorless drive system using vector controlled PMSM fed by a matrix converter. International Journal of Electri-cal Power and Energy Systems, vol. 43, no. 1, pp. 736-743, 2012.
[13]	E. G. Shehata. Speed sensorless torque control of an IPMSM drive with online stator resistance estimation using reduced order EKF. International Journal Electrical Power and Energy Systems, vol. 47, pp. 378-386, 2013.
[14]	D. Xu, S. G. Zhang, J. M. Liu. Very-low speed control of PMSM based on EKF estimation with closed loop opti-mized parameters. ISA Transactions, vol. 52, no. 6, pp. 835-843, 2013.
[15]	A. Khlaief, M. Boussak, A. Châari. A MRAS-based sta-tor resistance and speed estimation for sensorless vector controlled IPMSM drive. Electric Power Systems Research, vol. 108, pp. 1-15, 2014.
[16]	D. L. Liu, X. H. Zheng, L. L. Cui. Backstepping control of speed sensorless permanent magnet synchronous mo-tor. Transactions of China Electrotechnical Society, vol. 26, no. 9, pp. 67-72, 2011. (in Chinese)
[17]	L. N. Ren, F. C. Liu, X. H. Jiao. Hamiltonian modeling and speed-sensorless control for wind turbine systems. Control Theory & Applications, vol. 29, no. 4, pp. 457-464, 2012. (in Chinese)
[18]	G. Foo, M. F. Rahman. Sensorless sliding-mode MTPA con-trol of an IPM synchronous motor drive using a sliding-mode observer and HF signal injection. IEEE Transac-tions on Industrial Electronics, vol. 57, no. 4, pp. 1270-1278, 2010.
[19]	L. Qi, H. B. Shi. Adaptive position tracking control of permanent magnet synchronous motor based on RBF fast terminal sliding mode control. Neurocomputing, vol. 115, pp. 23-30, 2013.
[20]	W. C. Chi, M. Y. Cheng. Implementation of a sliding-mode-based position sensorless drive for high-speed micro permanent-magnet synchronous motors. ISA Transactions, vol. 53, no. 2, pp. 444-453, 2014.
[21]	M. Karabacak, H. I. Eskikurt. Design, modelling and sim-ulation of a new nonlinear and full adaptive backstep-ping speed tracking controller for uncertain PMSM. Ap-plied Mathematical Modelling, vol. 36, no. 11, pp. 5199-5213, 2012.
[22]	M. Karabacak, H. I. Eskikurt. Speed and current regula-tion of a permanent magnet synchronous motor via nonlin-ear and adaptive backstepping control. Mathematical and Computer Modelling, vol. 53, no. 9-10, pp. 2015-2030, 2011.

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Backstepping Control of Speed Sensorless Permanent Magnet Synchronous Motor Based on Slide Model Observer

School of Electric Power, South China University of Technology, Guangzhou 510641, China;

School of Information Engineering, Xiangtan University, Xiangtan 411105, China

Received: 2014-03-20

Fund Project:

This work was supported by National Natural Science Foundation of China (Nos. 61104072 and 11271309).

Key words:

Permanent magnet synchronous motor (PMSM) /
slide model observer /
backstepping control /
speed sensorless /
alternating current (AC)

Abstract: This paper presents a backstepping control method for speed sensorless permanent magnet synchronous motor based on slide model observer. First, a comprehensive dynamical model of the permanent magnet synchronous motor (PMSM) in d-q frame and its space-state equation are established. The slide model control method is used to estimate the electromotive force of PMSM under static frame, while the position of rotor and its actual speed are estimated by using phase loop lock (PLL) method. Next, using Lyapunov stability theorem, the asymptotical stability condition of the slide model observer is presented. Furthermore, based on the backstepping control theory, the PMSM rotor speed and current tracking backstepping controllers are designed, because such controllers display excellent speed tracking and anti-disturbance performance. Finally, Matlab simulation results show that the slide model observer can not only estimate the rotor position and speed of the PMSM accurately, but also ensure the asymptotical stability of the system and effective adjustment of rotor speed and current.

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Reference (22)

[1]	S. Bolognani, R. Oboe, M. Zigliotto. Sensorless full-digital PMSM drive with EKF estimation of speed and rotor posi-tion. IEEE Transactions on Industrial Electronics, vol. 46, no. 1, pp. 184-191, 1999.
[2]	Z. Q. Chen, M. Tomita, S. Doki, S. Okuma. New adap-tive sliding observers for position-and velocity-sensorless controls of brushless DC motors. IEEE Transactions on In-dustrial Electronics, vol. 47, no. 3, pp. 582-591, 2000.
[3]	S. Q. Zheng, X. Q. Tang, B. Song, S. W. Lu, B. S. Ye. Sta-ble adaptive PI control for permanent magnet synchronous motor drive based on improved JITL technique. ISA Trans-actions, vol. 52, no. 4, pp. 539-549, 2013.
[4]	G. D. Andreescu, C. I. Pitic, F. Blaabjerg, I. Boldea. Com-bined flux observer with signal injection enhancement for wide speed range sensorless direct torque control of IPMSM drives. IEEE Transactions on Energy Conversion, vol. 23, no. 2, pp. 393-402, 2008.
[5]	M. A. Hamida, A. Glumineau, J. de Leon. Robust integral backstepping control for sensorless IPM synchronous motor controller. Journal of the Franklin Institute, vol. 349, no. 5, pp. 1734-1757, 2012.
[6]	D. Q. Wei, B. Zhang, X. S. Luo. Adaptive synchronization of chaos in permanent magnet synchronous motors based on passivity theory. Chinese Physics B, vol. 21, no. 3, Arti-cle number 030504-1-030504-6, 2012.
[7]	D. Q. Wei, B. Zhang, X. S. Luo, D. Y. Qiu. Nonlinear dynamics of permanent-magnet synchronous motor with v/f control. Communications in Theoretical Physics, vol. 59, no. 3, pp. 302-306, 2013.
[8]	F. Cupertino, P. Giangrande, G. Pellegrino, S. Luigi. End effects in linear tubular motors and compensated posi-tion sensorless control based on pulsating voltage injection. IEEE Transactions on Industrial Electronics, vol. 58, no. 2, pp. 494-502, 2011.
[9]	S. Y. Jung, K. Nam. PMSM control based on edge-field hall sensor signals through ANF-PLL processing. IEEE Trans-actions on Industrial Electronics, vol. 58, no. 11, pp. 5121-5129, 2011.
[10]	F. Genduso, R. Miccli, C. Rando, G. R. Galluzzo. Back EMF sensorless-control algorithm for high-dynamic perfor-mance PMSM. IEEE Transactions on Industrial Electron-ics, vol. 57, no. 6, pp. 2092-2100, 2010.
[11]	T. Orlowska-Kowalska, M. Dybkowski. Stator-current-based MRAS estimator for a wide range speed-sensorless induction-motor drive. IEEE Transactions on Industrial Electronics, vol. 57, no. 4, pp. 1296-1308, 2010.
[12]	O. Aydogmus, S. SÄunter. Implementation of EKF based sensorless drive system using vector controlled PMSM fed by a matrix converter. International Journal of Electri-cal Power and Energy Systems, vol. 43, no. 1, pp. 736-743, 2012.
[13]	E. G. Shehata. Speed sensorless torque control of an IPMSM drive with online stator resistance estimation using reduced order EKF. International Journal Electrical Power and Energy Systems, vol. 47, pp. 378-386, 2013.
[14]	D. Xu, S. G. Zhang, J. M. Liu. Very-low speed control of PMSM based on EKF estimation with closed loop opti-mized parameters. ISA Transactions, vol. 52, no. 6, pp. 835-843, 2013.
[15]	A. Khlaief, M. Boussak, A. Châari. A MRAS-based sta-tor resistance and speed estimation for sensorless vector controlled IPMSM drive. Electric Power Systems Research, vol. 108, pp. 1-15, 2014.
[16]	D. L. Liu, X. H. Zheng, L. L. Cui. Backstepping control of speed sensorless permanent magnet synchronous mo-tor. Transactions of China Electrotechnical Society, vol. 26, no. 9, pp. 67-72, 2011. (in Chinese)
[17]	L. N. Ren, F. C. Liu, X. H. Jiao. Hamiltonian modeling and speed-sensorless control for wind turbine systems. Control Theory & Applications, vol. 29, no. 4, pp. 457-464, 2012. (in Chinese)
[18]	G. Foo, M. F. Rahman. Sensorless sliding-mode MTPA con-trol of an IPM synchronous motor drive using a sliding-mode observer and HF signal injection. IEEE Transac-tions on Industrial Electronics, vol. 57, no. 4, pp. 1270-1278, 2010.
[19]	L. Qi, H. B. Shi. Adaptive position tracking control of permanent magnet synchronous motor based on RBF fast terminal sliding mode control. Neurocomputing, vol. 115, pp. 23-30, 2013.
[20]	W. C. Chi, M. Y. Cheng. Implementation of a sliding-mode-based position sensorless drive for high-speed micro permanent-magnet synchronous motors. ISA Transactions, vol. 53, no. 2, pp. 444-453, 2014.
[21]	M. Karabacak, H. I. Eskikurt. Design, modelling and sim-ulation of a new nonlinear and full adaptive backstep-ping speed tracking controller for uncertain PMSM. Ap-plied Mathematical Modelling, vol. 36, no. 11, pp. 5199-5213, 2012.
[22]	M. Karabacak, H. I. Eskikurt. Speed and current regula-tion of a permanent magnet synchronous motor via nonlin-ear and adaptive backstepping control. Mathematical and Computer Modelling, vol. 53, no. 9-10, pp. 2015-2030, 2011.

Backstepping Control of Speed Sensorless Permanent Magnet Synchronous Motor Based on Slide Model Observer

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