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Index Terms Brushless DC, estimation techniques, fivephase motor, linear transformation, permanent magnet
synchronous motor, sensorless drives, back-EMF observer.
I.
NOMENCLATURE
x
Vx , Ix
phase subscript;
phase voltage and current;
R,L
Ex
fx
Mx
m
r
r
Ke
p
Ce
X
rotor pole-pairs;
electromagnetic torque;
(1)
INTRODUCTION
Giuseppe Fabri, Carlo Olivieri and Marco Tursini are with the
Department of Electrical and Information Engineering, University of
LAquila, I-67100, LAquila, Italy (e-mail: giuseppe.fabri@univaq.it,
carlo.olivieri@univaq.it, marco.tursini@univaq.it).
Ph
e
as
1
0.75
0.5
0.25
0
-0.25
-0.5
-0.75
-1
Vx = R I x + L
dI x
dt
+ Ex (r )
(1)
d Mx (r )
dt
d Mx ( r ) dr
d r
dt
d Mx ( r )
d r
(2)
E ( )
f x ( r ) = x r
Ke r
(3)
Vx = R I x + L
dI x
dt
+ K e r f x ( r )
(4)
dMx ( r )
x= A
d r
Ce = p
Ix =
p
r
120
240
360
angle (degrees)
480
600
720
C e = p K e f x (r ) I x .
(6)
x=A
B. Space-vector representation
In order to set-up the sensorless strategy with a minimum
number of equations, an equivalent space-vector
representation of the five-phase motor has been developed.
The objective is to achieve sine/cosine shapes for the
components of the equivalent shape function (i.e. backEMF) space-vector, in order to set-up a two-phase observer
similar to that employed in more standard three-phase
motors.
To this purpose, the linear transformation given by matrix
(7) can be considered, which allows to represents the fivephase motor by a couple of space-vectors with components
denoted as and and an homopolar component.
2
3
4
cos( )
cos( )
cos( )
cos( )
cos(0)
5
5
5
5
2
3
4
T = 2 1
1
1
1
1
ABCDE
5
2
4
6
8
2
4
6
8
[ ]
(7)
Ex(r ) I x
x=A
(5)
Fig. 4. Actual (ABCDE) and equivalent-symmetrical (ACE-B-D) axes of
the five-phase
f (1) ( r ) = sin r ;
(1 )
d E
120
240
360
480
Zero sequence component
0.05
600
dt
720
120
240
360
480
Alpha' - Beta' components
1)
= [A22 ] E (
(11)
being:
0
-0.05
(10)
-1
0
f (1) ( r ) = cos r
600
0 1
= [A22 ( r )]
1 0
[A22 ] = r
720
0.2
0
-0.2
(12)
120
240
360
angle (degrees)
480
600
720
where:
V = [V , V ]T =
I = [I , I ] =
(8)
dX
dt
[T ]
[B1 ]
[B1 ]
, [B] =
[ A22 ( r )]
0
0
system matrices.
[ A11 ]
[A ] =
V ABCDE ,
[T ]
E ( r ) = [E , E ] =
I ABCDE ,
[T ]
(14)
[K ]
1
[K ] =
, [K ] = k
[G][K ]
0
0
1 0
, [G] = g
1
0 1
1
gain matrices (with k1 and g constant gains), where the
parameter g stands for a generic proportionality factor that
can be used to weight more heavily the back-emfs estimates
with respect to the currents estimates.
1
E ABCDE ( r ) ,
ABCDE
and
1 0
1 1 0
, [B1 ] =
, [A12 ] = [B1 ]
L 0 1
L 0 1
are matrices of constant system parameters.
The back-EMF dependence on rotor magnet position can
be arranged in the following general form:
[A11 ] = R
E ( r ) = K e r f ( h) (h r )
h
=1
= [ A] X + [B]V + [K ]( I I )
ABCDE
T
(13)
dX
ABCDE
= [ A] X + [B]V
(9)
(15)
~
where r represents the argument of the input waveforms
(assumed as known references) and r is the argument of
(16)
PI
Fig. 13. Alpha and Beta back-EMFs (black and blue respectively),
commutation sector (magenta) and speed (green) in speed transition from 60
to 390 rpm (voltage is scaled to 20V/div).
VIII.
Fig. 14. Commutation sector (magenta) and actual speed (blue) are reported
in the upper axis, estimated position (black) and estimated speed (green) are
reported in the lower axis, during a speed transition from 60 to 570 rpm
(speed is scaled to 300rpm/div).
VI. CONCLUSIONS
An approach to the rotor speed and position estimation in
a five-phase BLDC motor is proposed, based on a back-EMF
observer. A linear transformation is developed to represent
the five-phase motor by an equivalent two-phase model and
a 4th order state observer is implemented including the backEMFs dynamics. The position is extracted from the
estimated back-EMFs using a PLL algorithm.
The presence of saturation is not taken into account
because the two-phase linear model developed in this study
is able to correctly describe the behavior of the system with
good approximation.
The proposed strategy has been validated by experimental
results with the observer operating in open-loop, the analysis
has pointed out that the rotor position and speed are
estimated with good reliability both at high and low speed.
Estimation errors reported at high frequency operation
such as the influence of the observer gains set-up require a
deeper analysis and will be investigated in the next step of
this research.
TABLE I
MOTOR PARAMETERS
base speed
base voltage
base current
rated torque
pole pairs
phase resistance
phase inductance
back-EMF constant
600 rpm
240 Vpk
5 Apk
16 Nm
9
3.88
24.1 mH
0.0972 Vpk / rpm
VII. ACKNOWLEDGMENT
The authors want to thanks UmbraGroup (Foligno, Italy)
for making available the five-phase motor prototype
considered as test case in this paper.
REFERENCES
IX. BIOGRAPHIES
Giuseppe Fabri was born in Rieti, Italy, on January 24, 1982. He graduated
from the University of LAquila in 2009 in Electronic Engineering. He is
currently a Ph.D. student in the Department of Electrical and Information
Engineering, University of LAquila, where is involved in development of
electrical motor drives for automotive and aerospace application.
Carlo Olivieri was born in Teramo, Italy, on August 5, 1983. He received
his M.S. degree in Computer Science and Automation Engineering in 2008
from the University of LAquila. At present he is a Ph.D. student in the
department of Electrical and Information Engineering, at the University of
LAquila, working in the field of automotive devoted to the study of the
sensorless techniques and in the field of robust control.
Marco Tursini received the M.S. degree in electrical engineering from the
University of LAquila, Italy, in 1987. He became an Assistant Professor of
power converters, electrical machines, and drives in 1991, and an Associate
Professor of electrical machines in 2002. In 1990, he was Research Fellow
at the Industrial Electronics Laboratory, Swiss Federal Institute of
Technology of Lausanne, where he conducted research on sliding mode
control of permanent magnet synchronous motor drives, and in 1994 at the
WEMPEC, Nagasaki University. His research interests are focused on
advanced control of ac drives, including vector, sensorless, and fuzzy logic
control, digital motion control, DSP-based systems for real-time
implementation, and modeling and simulation of electrical drives. He has
authored more than 90 technical papers on these subjects.