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Estimation of position and resistance of a sensorless PMSM : a nonlinear Luenberger approach for a non-observable system

Abstract : We show that the pair (rotor position, resistance) of a non-salient Permanent Magnet Synchronous Motor (PMSM) is not observable in the sensorless setting, namely when only the electrical signals (voltages and intensities) are measured. However, if the rotation speed ω and the current in rotating frame id are simultaneously non zero, we prove that there can only exist six indistinguishable solutions, the resistance being the root of a polynomial of degree six. Besides, in the particular case where ω, id and iq are constant, we show that the number of possible solutions is reduced to two, with two well-identified possible values for the resistance. Those two solutions can be dissociated if the sign of iq (namely the mode of use of the motor) is known. Inspired by the nonlinear Luenberger methodology, this property enables us to propose an estimation algorithm which relies on a one-dimensional minimization of a criterion involving the voltages and intensities filtered at three distinct sufficiently large frequencies. Its performances are tested and illustrated in simulations on real data.
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https://hal.archives-ouvertes.fr/hal-01824171
Contributor : Pauline Bernard <>
Submitted on : Monday, March 2, 2020 - 11:03:02 AM
Last modification on : Tuesday, November 24, 2020 - 3:24:43 PM
Long-term archiving on: : Wednesday, June 3, 2020 - 1:47:32 PM

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Pauline Bernard, Laurent Praly. Estimation of position and resistance of a sensorless PMSM : a nonlinear Luenberger approach for a non-observable system. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2020, ⟨10.1109/TAC.2020.2981341⟩. ⟨hal-01824171v4⟩

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