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Implementation of a Sliding-mode-based
Position Sensor-less Drive for High-speed
Micro Permanent-Magnet Synchronous Motors
Wen-Chun Chi, Ming-Yang Cheng
Elsevier-ISA Transactions 53 (2014) pp. 444–453
王明賢
石明輝
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outline
Introduction
Dynamic Model of a PMSM
Rotor position estimation based on sliding-mode
current observer
Experimental Setup and Results
Conclusions
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Introduction
The micro permanent magnet synchronous
motors (PMSMs) are particularly suitable for
electric dental handpieces that require high
speed operation and have limited space.
Compared with air-driven systems, the
advantages of electric dental handpieces include:
 smooth operation,
 low noise levels,
 and greater generated torque with less noise and
vibration.
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Introduction
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Introduction
Generally speaking, the sliding-mode observer based
method estimating rotor position belongs to the
category of back-EMF estimation.
It is well known that the back-EMF estimation
method not suitable for very low-speed operation.
However, the high speed micro PMSM used in the
dental handpiece does not require full-load
operation at standstill/very low speed ranges.
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Introduction
As a result, developing a position sensorless FOC
based on the sliding-mode observer for high-speed
micro PMSMs seems reasonable.
In this paper, the sliding-mode observer for
estimating the rotor position high-speed micro
PMSMs is implemented using a cost-effective 6-bit
fixed-point microcontroller.
Several experiments are performed to validate the
effectiveness of the proposed position sensorless
FOC algorithm for the high-speed micro PMSMs.
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outline
Introduction
Dynamic Model of a PMSM
Rotor position estimation based on sliding-mode
current observer
Experimental Setup and Results
Conclusions
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Dynamic model of PMSM
The voltage equation of the nonsalient surface micro PMSM
represented in the two phase
stationary reference frame (a–ß
axis)
The back-EMF in the two-phase stationary reference frame
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outline
Introduction
Dynamic Model of a PMSM
Rotor position estimation based on sliding-mode
current observer
Experimental Setup and Results
Conclusions
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Rotor Position Estimation
The precise position information is essential,
but it is not suitable:
 Space limitation
 Signal noise and temperature
Observer based method solution:
 It is not suitable for standstill or very low speed
operation, but dental handpiece do not require
full-load operation at this condition.
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Sliding Mode Observer
State space form of the high speed micro PMSM voltage
equation:
dα: modeling uncertainty
dβ: external disturbance
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Sliding Mode Observer
Sliding Mode Observer Equation:
Zα: modeling uncertainty
Zβ: external disturbance
k : observer switching gain (positive)
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Sliding Mode Observer
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Stability Analysis
The sliding surface S can be defined as a function of the
difference between measured current and estimate current:
Lyapunov Stability Theorem:
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Stability Analysis
Lyapunov Stability Theorem:
Time derivative of eq(7) along the system trajectory:
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Stability Analysis
From eq(3) and eq(4):
Substitution of eq(6) and eq (9) into eq(8):
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Stability Analysis
By performing matrix multiplication we get:
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Stability Analysis
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Position and Velocity Estimation of the Rotor
With the sliding-mode observer developed in this paper, the
backEMF can be estimated. In addition, based on Eq. (2), one
will have
As a result, use eq (13) to estimate the rotor position angle
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High -speed Micro PMSM Start -up
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outline
Introduction
Dynamic Model of a PMSM
Rotor position estimation based on sliding-mode
current observer
Experimental Setup and Results
Conclusions
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Experimental Setups and Results
Overall Block Diagram
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Experimental Setups and Results
Driver-board
Prototype
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Experimental Setups and Results
Hardware structure and its parameters
Fig. 6. (a) Hardware structure of the high-speed micro PMSM used in this paper.
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Experimental Setups and Results
Fig. 6. (b) Measured back-EMF waveforms of the high-speed micro PMSM from top to bottom:
commutation signal obtained from the Hall-effect sensor and back-EMF of phase “a”).
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Experimental Setups and Results
Fig. 7. Experimental setup for the test rig developed in this paper.
(a) Schematic diagram of the experimental setup for position-sensorless FOC.
(b) Photographs of the experimental setup for position-sensorless FOC.
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Experimental Setups and Results
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Experimental Setups and Results
Fig. 9. (a) Experimental results of high-speed micro PMSM using the proposed position
sensorless FOC on speeds operation 2000 rpm
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Experimental Setups and Results
Fig. 9. (b) Experimental results of high-speed micro PMSM using the proposed position
sensorless FOC on speeds operation 20.000 rpm
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Experimental Setups and Results
Fig. 9. (c) Experimental results of high-speed micro PMSM using the proposed position
sensorless FOC on speeds operation 40.000 rpm
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Experimental Setups and Results
Fig. 10. (a) Experimental result for Speed commands are changed from 2000 rpm to 20,000 rpm
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Experimental Setups and Results
Fig. 10. (b) Experimental result for Speed commands are changed from +5000 rpm to -10,000 rpm
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Experimental Setups and Results
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outline
Introduction
Dynamic Model of a PMSM
Rotor position estimation based on sliding-mode
current observer
Experimental Setup and Results
Conclusions
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Conclusions
1.
The stability of the proposed sliding-mode observer is
proved using the Lyapunov stability theorem.
2.
The proposed sliding-mode observer is effective in
estimating the rotor position and speed of the high-speed
micro PMSM.
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Conclusions
3.
The sliding-mode observer can be implemented using a
cost-effective 16-bit fixed-point microcontroller. In
addition, only several parameters of the sliding-mode
observer require adjustment.
4.
The high-speed micro PMSM exhibits satisfactory speed
control performance over the entire speed range from
2000 to 40,000 RPM, regardless of load conditions.
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