Sensorless Control of Permanent Magnet Synchronous Motor Based on Improved Quadrature Phase-locked Loop
Wu Xiang1, Chen Shuo2, Li Jia1, Zhang Jiazhe1, Zhang Xiao1
1. School of Electrical Engineering, China University of Mining and Technology Xuzhou 221008 China; 2. School of Electrical Engineering, Xi'an Jiaotong University Xi'an 710049 China
Abstract：Permanent magnet synchronous motor (PMSM) drive system with sensorless control can realize energy conversion with high reliability, high efficiency, and high power density at low cost, which has become one of the research focuses in the current AC motor control field. For the sensorless control of the PMSM in the medium and high speed region, the speed and rotor position information can be obtained through the quadrature phase-locked loop (QPLL) after the back EMF or flux linkage information is observed by using the fundamental frequency model method. QPLL includes three parts, i.e., phase detector (PD), loop filter (LF), and voltage controlled oscillator (VCO). The structure and parameters of each part directly affect the stability and dynamic performance of QPLL. In order to optimize the performance of QPLL, scholars at home and abroad have made corresponding improvements. To optimize the performance of QPLL, scholars have made corresponding improvements. However, most of the improved QPLLs usually only consider a single optimization objective. For the occasion where frequent acceleration and deceleration and forward and reverse rotation are required, it is not only necessary to overcome the problem of the conventional QPLL that large estimation error of rotor position appears during acceleration and deceleration operation, but also need to solve the problem of 180 degrees deviation between the observed rotor position and the actual rotor position under reverse rotation conditions. In order to solve the problem of reverse failure and significant DC offset error appearing in the rotor position under acceleration and deceleration conditions when conventional quadrature phase-locked loop (QPLL) is applied to sensorless control of permanent magnet synchronous motor (PMSM), the deterioration mechanism of the conventional QPLL under reverse rotation and acceleration/deceleration conditions is analyzed and an improved quadrature phase-locked loop (IQPLL) is proposed in this paper. By reconstructing the phase detector, the output of the phase detector is no longer related to the rotation direction of the PMSM, thus solving one of the problems of the conventional QPLL, i.e., the 180 degree deviation in estimating the rotor position when the motor reverses. In addition, under the new phase detector, a feedforward loop is designed to compensate the DC offset error appearing in the rotor position under acceleration and deceleration conditions. The small signal model of new IQPLL is established, and the parameter design method of IQPLL is given according to the frequency response characteristics of the system. The experimental results in a 630kW PMSM platform show that the proposed IQPLL, compared with the conventional QPLL, can realize the forward and reverse control of the PMSM, and effectively suppress DC offset error appearing in the rotor position under acceleration and deceleration conditions. Unlike most existing improved QPLLs, which only optimize a single objective, the proposed IQPLL studied in this paper realizes the optimization of two objectives at the same time, which not only solves the problem of conventional QPLL inversion failure, but also suppresses the problem of large rotor position estimation error during acceleration and deceleration operation. Accordingly, the IQPLL studied in this paper has outstanding advantages for the occasions where acceleration and deceleration are frequent and forward and reverse rotation are required.
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