Slotless permanent magnet synchronous motor …（无槽永磁同步电动机u2026）.pdfVIP

366 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 15, NO. 4, DECEMBER 2000 Slotless Permanent Magnet Synchronous Motor Operation without a High Resolution Rotor Angle Sensor Todd D. Batzel and Kwang Y. Lee, Senior Member, IEEE Abstract—An implementation for sinusoidal current control of a parison to the resolver or encoder, but provide low-resolution slotless Permanent Magnet Synchronous Motor (PMSM) with dis- rotor angle feedback—usually 60 electrical degrees resolution. crete Hall sensor position feedback is presented. To estimate the The use of Hall sensors with the slotless PMSM results in a rotor position of the slotless PMSM, a flux estimation technique is used that takes advantage of the slotless machine’s character- torque ripple and vibration whose frequency is RPM dependent, istically low inductance to limit flux estimation error. The rotor and thus compromises the low torque ripple inherent to the slot- position is estimated using a reference model and the measured less design [3]. phase currents and voltages. At startup and very low speeds, dis- In order to eliminate the need for high-resolution rotor posi- crete Hall sensors are used to limit the position estimation error to tion sensors, many sensorless techniques have been developed approximately 30 electrical degrees and to prevent the flux es- timators from drifting due to measurement noise and offset. The for the PMSM. It is well known, however, that sensorless op- proposed sinusoidal control method reduces the torque pulsations eration is problematic at startup and low-speeds. Several sen- present when Hall sensor position feedback alone is used and elim- s