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UPLOAD (1) Sensorless Speed Control of A PM Type Axial Gap MOTOR
UPLOAD (1) Sensorless Speed Control of A PM Type Axial Gap MOTOR
Satoshi Ueno
I.
INTRODUCTION
c 2008 IEEE
978-1-4244-2287-6/08/$25.00
1600
ICARCV 2008
Figure 2.
3 Lsc0
Lsl
2 g
where, K F
3 Lsc0
2 g
(2)
(5)
is Rs Ls
2 KT i f iq
Us
(4)
(1)
4 K F id 0 i f id
(3)
1601
Rs
1
1
iD U D eD
Ls
Ls
Ls
Rs
1
1
iE U E eE
Ls
Ls
Ls
(6)
eE
OmZe sin T
OmZe cos T
deD
dt
deE
dt
(8)
Ze eD
T
Ze
or Ze
arctan( eD / eE )
eD2 eE2
Om
dT
dt
(10a)
(10b)
di
is Rs Ls s e s '
dt
(11)
di
R
1
1
= U S i e +i
dt LS
LS
LS
de
dt =e
de
dt =e
Figure 3.
(9)
(7)
Ze eE
1602
(12)
2
E
e 2
1 when V > 0
y Cx
where K is a gain matrix, for the PM type AGBM, the gain
matrix can assume as the following:
Ki 0
(14)
0 K
e
0 K1
0 K2
K
V D
V E
(16)
1 T
s s
2
1 2
(V D V E2 )
2
(17)
VD iD iD - L V D L ( eD eD ) ziD
S
S
(18)
R
1
S
V
i - V ( e e ) z
i
iE
E
E
E
E E E
LS
LS
de s des
di di
= -Rs ( s - s ) = -Rs s
dt dt
dt dt
sT s
0
sT s
R
1
S (V D2 V E2 )
( eD eD )V D
LS
LS
1
(eE eE )V E V D ziD V E ziE 0
LS
K10Ze
K2
K 20Ze
(24)
(26)
eEsm
(20)
and
(23)
K e max( eD , eE ) / Rs
esm
(19)
(22)
(21)
Ki ! max( eD , eE )
(27)
1603
to the delay between the sliding mode estimates and the actual
variables.
The compensation value depends on motor speed, so the
value of rotor speed is divided into thirty ranges from zero
value to norm value, each speed range has its own slope and
constant phase compensation component. The compensating
angle is fetched experimentally.
III.
Inverter
board
Radial
bearing
A. Control hardware
In order to confirm the proposed control method for PM
type AGBM, an experimental setup was set up which is shown
schematically in Fig. 4. The rotor disc, as shown in Fig. 5, has
a diameter of 55 mm, and four neodymium iron magnets with
the thickness of 0.8mm for each side are attached to its surface
to create two pole pairs. For experimental simplicity, the rotor
is supported by two radial ball bearings in order to restrict the
radial motion.
The stator, as shown in Fig. 6, has a diameter of 55 mm and
six concentrated wound poles each with 200 coil turns. The
stators can slide on linear guide to ensure the same desired air
gap between rotor and two stators. A DC generator (Sanyo
T402) is installed to give the load torque which is adjusted by
changing the resistance, which is connected to outputs of
generator. In order to measure the rotor speed and the axial
position, a rotary encoder (Copal RE30D) and an eddy-currenttype displacement sensor (Sinkawa Co. Ltd. VC-202N) are
installed, respectively.
The control hardware of sensorless AGBM drive is shown
in Fig. 7. It is based on a dSpace1104 board dedicated to
control of electrical drives, which includes PWM units, general
purpose input/output units (8 ADC and 8 DAC) and encoder
interface. The DSP reads the displacement signal from the
displacement sensor via an A/D converter, and the rotor angle
Figure 4.
Figure 5.
Figure 6.
Stator of AGBM
Rotor of AGBM.
DC
Generator
Stator
Rotor
Figure 7.
Linear
guide
Displacement
sensor
1604
Figure 11.
Figure 12.
1605