In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
10, N
o.
1, Mar
ch 20
19,
p
p.
128~
1
3
6
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v10
.
i
1.pp
1
28-
13
6
128
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
a
e
score
.
com
/
j
o
u
r
na
l
s
/
i
n
d
e
x
.
p
hp/IJ
PED
S
Speed an
d
position estimato
r of
for sensorless PMSM
drives
usin
g adaptive controller
Ju
rifa M
at Lazi, Zu
l
k
i
fili
e Ib
ra
h
i
m
,
M
H
N
T
al
i
b
,
A
z
r
i
t
a
A
l
i
a
s
,
A
in
ain
N
u
r, Maasp
a
l
i
za A
z
r
i
D
e
part
ment
of Pow
e
r E
l
ectronics
and
Dr
i
v
e
s,
F
aculty
o
f E
l
ectric
al En
g
i
n
eerin
g,
Universiti
T
e
kni
k
al Malays
i
a Me
laka (UTeM)
,
M
alaysia
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
Re
ce
i
v
e
d
Ju
l
2
0,
201
8
Re
vise
d S
e
p 17,
201
8
A
c
c
e
pte
d
S
ep 29,
2
0
1
8
No
wad
a
y
s
,
t
h
e
elimin
atio
n
of
t
he
s
p
eed
s
enso
r
i
n
P
erm
a
ne
nt
M
a
g
n
et
S
y
n
c
hron
ou
s
M
ach
ine
(PM
S
M
)
i
s
g
r
eatl
y
r
eco
mm
en
ded
to
i
n
c
re
as
e
ef
fici
ency
a
nd
r
ed
uce
t
h
e
cos
t
o
f
t
h
e
dri
v
es
.
This
p
aper
p
rop
o
s
es
a
s
im
p
l
e
e
s
t
i
ma
tor
fo
r
sp
e
e
d
a
nd
roto
r
po
si
t
i
o
n
o
f
P
MSM
d
r
i
v
e
s
u
s
i
n
g
a
d
a
pt
iv
e
con
t
ro
ller.
T
h
e
no
vel
t
i
e
s
of
t
h
e
p
rop
o
s
e
d
m
e
th
od
are
th
e
s
i
m
p
le
e
s
t
i
m
a
t
o
r
equ
a
ti
ons
a
nd
t
he
a
bs
enc
e
o
f
t
h
e
v
o
lt
age
p
r
ob
e
whi
c
h
d
e
pend
o
n
di
rect
a
nd
qu
adrat
u
re
r
e
f
er
en
ce
c
u
r
ren
t
o
n
l
y
.
T
he
s
im
p
l
ifi
e
d
m
a
t
h
em
atical
mo
de
l
o
f
t
he
P
M
SM
i
s
fo
rm
u
l
ated
by
u
s
i
n
g
V-I
m
o
d
e
l,
b
ased
o
n
ad
ap
tiv
e
con
t
ro
l.
T
hen,
t
h
e
s
p
e
e
d
e
s
t
i
m
a
t
i
o
n
e
r
r
o
r
o
f
t
h
e
v
o
l
t
a
g
e
a
n
d
c
u
r
r
e
n
t
m
o
d
e
l
b
a
s
ed
a
re
anal
yzed
.
Thu
s
,
an
a
dapt
ati
on
mech
anis
m
mo
del
is
e
stab
lis
h
ed
t
o
cancel
the
error
of
t
he
m
easured
a
nd
es
tim
at
ed
d
-q
c
u
rrent
s.
S
i
n
ce
th
e
o
u
t
put
o
f
th
e
est
i
m
a
to
r
is
t
h
e
p
ositi
on
f
eedbac
k
,
t
h
e
p
e
rf
o
r
m
a
nces
o
f
sp
eed
r
e
s
po
nses
a
re
pres
ent
e
d
.
T
he
h
ardw
are
im
pl
e
m
ent
a
tio
n
of
p
ropo
sed
sen
s
o
r
le
ss
d
ri
ves
i
s
reali
zed
v
ia
d
SPACE
D
S
1
11
03
p
an
el.
dSP
A
CE
R
eal
T
im
e
Implem
en
tat
io
n
(RTI)
is
t
h
e
lin
k
a
g
e
b
et
ween
s
oftw
are
and
h
a
rdw
a
re
s
et-u
p.
I
t
a
u
t
o
m
atical
ly
p
r
oc
e
s
se
s
the
M
A
T
L
AB
S
i
m
ul
in
k
mod
e
l
in
to
d
SP
AC
E
DS
11
10
3
p
r
o
c
e
s
s
or.
Th
e
ex
perim
e
n
t
al-h
ardw
are
res
u
lts
d
em
on
strat
e
t
hat
th
e
s
p
eed
a
n
d
po
sit
i
o
n
est
i
m
a
to
r
o
f
t
h
e
p
ropo
sed
m
e
t
h
o
d
i
s
ab
le
t
o
co
nt
rol
t
h
e
P
M
SM
d
r
iv
e
s
f
or
f
o
rw
ard
an
d
re
verse
of
s
peed
c
o
m
m
a
n
d
,
acc
elerati
o
n
,
d
ecelerati
o
n
a
n
d
rob
u
s
t
nes
s
t
o
lo
ad d
is
turb
ance.
K
eyw
ord
s
:
PMS
M
S
e
nsor
l
e
ss
Sp
ee
d
est
i
m
a
t
or
SV
P
W
M
Co
pyri
gh
t © 2
019 In
stit
u
t
e
of Advanced
En
gi
neeri
n
g
an
d
S
c
ien
ce.
All
rights
res
e
rv
ed.
Corres
pon
d
i
n
g
Au
th
or:
Juri
fa
b
in
ti Ma
t
Lazi,
D
e
pa
rtme
nt
o
f
P
o
w
e
r Elec
tro
n
i
c
s and
D
r
ive
s
, F
a
c
ult
y
of
E
l
e
c
tric
a
l
Eng
in
ee
ri
ng
,
U
n
i
v
ersi
ti
T
e
k
ni
ka
l Ma
la
ysia
M
ela
k
a,
H
a
ng
Tua
h
Ja
y
a,
7610
0, D
u
r
ian Tu
ng
ga
l,
Melaka
,
M
a
l
ays
i
a
.
Em
ail:
j
u
r
i
fa
@
u
tem
.
e
du.m
y
1.
I
N
TR
OD
U
C
TI
O
N
I
n
P
M
S
M
v
a
r
i
a
b
l
e
s
p
e
e
d
d
r
i
v
e
s
,
t
h
e
f
e
e
d
b
a
c
k
o
f
s
p
e
e
d
a
n
d
r
o
t
o
r
pos
iti
o
n
a
r
e
c
ompul
s
o
ry.
U
s
ua
lly
tha
t
i
nform
a
ti
on
i
s
gat
h
er
e
d
from
p
o
s
i
t
i
on
s
e
n
sor
s
u
c
h
a
s
i
n
cre
me
nt
a
l
e
nc
ode
r
and
a
b
so
l
u
te
e
nco
d
er
.
U
n
for
t
u
n
a
t
e
l
y,
t
he
p
r
i
ce
f
or
a
va
ila
ble
po
si
t
i
on
s
e
n
sor
i
s
q
ui
te
e
x
p
e
n
sive
.
Ther
efor
e,
t
he
e
li
m
i
na
ti
on
of
s
p
e
ed
sens
or
i
n
P
M
S
M
d
r
i
ve
s
w
i
l
l
r
educe
t
h
e
t
o
tal
dr
i
v
e
s
c
ost.
T
he
e
l
im
i
n
at
io
n
of
s
pee
d
s
en
so
r
nee
d
t
o
be
r
e
p
la
c
e
d
by
a
se
ns
orle
ss
m
ec
hanism
t
h
a
t
c
a
n
prod
uce
the
fe
e
d
bac
k
o
f
s
p
ee
d
se
ns
or
a
nd
rot
o
r
po
s
i
t
i
on
m
e
a
s
ure
m
ents.
The me
asure
m
e
n
ts can be ma
de b
y
us
i
ng
es
t
i
ma
tor. Gene
r
all
y
, est
i
m
ati
o
n of the se
n
s
o
rle
ss
m
e
tho
d
is di
vi
de
d
i
n
t
o
t
wo
cat
e
g
o
r
i
e
s;
w
h
i
ch
a
re
b
as
ed
o
n
fu
nd
amen
t
a
l
e
x
ci
t
a
t
i
o
n
s
m
et
h
od
a
nd
b
a
sed
on
si
g
n
al
i
n
j
ec
tio
n
me
tho
d
.
I
n
f
un
da
me
nt
a
l
e
xc
it
ati
o
ns
m
eth
o
d
,
the
spee
d
an
d
rotor
po
si
tio
n
a
r
e
estima
t
e
d
u
s
i
n
g
m
athem
a
tica
l
re
p
r
e
s
e
n
t
a
ti
on
o
f
th
e
PM
S
M
.
It
c
an
b
e
di
vide
d
i
n
to
t
wo
g
rou
p
s
;
N
o
n-A
d
a
p
ti
ve
m
eth
od
a
nd
A
d
a
p
t
i
ve
m
eth
o
d
.
N
on-A
d
a
p
ti
ve
m
etho
d
i
s
b
a
s
e
d
on
m
e
a
s
u
r
ed
c
ur
rent
a
n
d
v
o
l
t
a
ge,
w
hile
A
da
p
tive
m
e
tho
d
e
m
p
loys
t
h
e
corr
ecti
o
n
te
c
h
niq
u
e
f
o
r
m
e
a
s
u
r
ed val
ue a
n
d
a
c
t
u
al va
l
u
e
t
h
r
ou
g
h
a
d
ap
tio
n
m
e
c
h
ani
s
m.
T
h
r
ou
gh
t
hi
s
met
hod
,
all t
h
e
st
a
t
e
s
i
n
the
PMSMs dr
i
v
e
s
sys
t
e
m
can be
est
i
ma
t
e
d
inc
l
ud
ing
t
h
e s
t
ate
s
t
ha
t ar
e di
ff
i
c
u
lt
t
o
e
s
tim
a
t
e
.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
Spe
e
d
a
nd p
o
si
ti
on est
i
m
a
t
o
r
of
for sen
s
orle
ss PMSM d
r
ive
s
usi
ng
a
d
a
p
tiv
e
c
ontro
l
l
er
(J
ur
i
f
a Ma
t
L
a
zi)
12
9
N
on
A
d
a
p
ti
ve
m
etho
d
em
plo
y
s
t
h
e
fun
d
a
m
e
nta
l
e
q
u
a
t
io
ns
f
or
P
M
S
Ms
.
D
i
ffere
n
t
t
ype
o
f
fu
n
d
am
enta
l
e
qua
t
i
o
n
s
a
r
e
b
e
in
g
u
s
e
d
b
y
othe
r
rese
arc
h
ers
su
c
h
a
s
,
b
a
sed
on
Bac
k
E
le
c
t
rom
a
g
n
et
i
c
F
orc
e
(EMF
)
by
[1]-
[4].
V
olta
ge
a
nd
C
u
rre
nt
b
as
e
d
a
re
u
sed
by
[
5
]
,[6]
a
s
the
fu
n
d
am
enta
l
e
qua
tio
n.
O
ther
t
ha
n
tha
t
,
[7],[8]
ar
e
usi
ng
Ins
t
a
n
t
a
ne
o
u
s
p
o
w
e
r
based
a
s
t
he
f
u
n
d
am
enta
l
e
qua
t
i
on.
R
otor
f
lu
x
is
u
se
d
as
t
he
fu
n
d
am
neta
l
e
q
u
a
t
i
o
n
b
y
[
4]
,
[9],
[
1
0
].
F
or
a
ll
m
ode
l
ba
se
d
es
t
im
at
or,
t
h
e
ma
in
p
r
oble
m
i
s
at
l
ow
s
pe
e
d
opera
tio
n.
F
or
z
e
r
o
spee
d
o
p
e
r
ation,
b
ac
k
E
M
F
is
r
ela
t
i
v
e
l
y
sma
l
l
m
eanw
h
i
l
e
the
m
a
g
n
e
t
s
d
o
n
o
t
i
nd
uc
e
any
vo
lta
ge.
Be
si
d
e
s
tha
t
,
t
h
e
vo
l
t
a
g
e
a
nd
c
u
rre
nt
s
i
gna
l
a
r
e
q
u
i
t
e
noi
sy
b
e
cau
se
o
f
t
h
e
Pu
l
s
e
Wi
d
t
h
M
odul
ati
o
n
(P
WM)
o
p
era
t
i
o
n
o
n
t
he
pow
e
r
m
od
u
l
e
.
T
h
e
se
l
ea
d
t
o
unc
er
tai
n
ty
a
n
d
in
ac
cura
cy
i
n
s
p
ee
d
m
e
a
s
urem
ent.
T
o
overc
ome
thi
s
p
ro
blem
,
re
sear
cher
s
i
n
tro
d
u
c
e
othe
r
me
t
hod
i
n
fu
n
d
am
enta
l
e
x
c
i
t
a
tio
n
b
y
u
sin
g
o
bserve
r
a
n
d
ada
p
t
i
ve
m
e
t
h
od.
Y
e
t
,
t
h
e
i
n
t
r
od
uct
i
on
of
obse
r
ver
an
d
a
d
apt
i
v
e
m
e
t
h
o
d
st
i
l
l
c
a
n
’
t
ful
l
y
sol
v
e
th
e
lo
w
s
p
eed
opera
tio
n
prob
le
m, but t
he
per
form
ance
a
re
b
etter
com
p
are
d
w
ith
no
n
-
ad
apt
i
v
e me
t
hod
.
F
o
r
ada
p
tiv
e
m
e
tho
d
,
the
se
nsor
less
tec
h
ni
que
e
mp
lo
ys
d
iffere
n
t
t
ype
o
f
ob
ser
v
er
a
nd
a
da
p
t
a
t
io
n
mec
h
an
i
s
m
to
e
sti
m
a
t
e
t
h
e
sp
ee
d
a
n
d
roto
r
po
siti
on
.
Th
ro
ugh
t
h
i
s
me
tho
d
,
a
ll
the
s
t
ates
i
n
P
M
S
M
s
dri
v
es
sy
t
e
m
c
a
n
be
e
stim
ated.
In
c
on
trast,
t
his
me
th
o
d
is
n
o
t
p
e
rfor
m
w
e
l
l
i
n
l
ow
s
pee
d
a
nd
r
e
q
u
i
res
com
p
le
x
a
l
go
rith
m
an
d
c
a
l
c
ul
a
t
i
o
n
[8
].
M
o
d
e
l
R
e
fe
ren
c
e
Ad
ap
at
iv
e
Co
nt
ro
l
(M
RA
C)
c
omp
u
tes
a
des
i
red
sta
t
e
us
i
n
g
tw
o
m
o
del
s
,
w
h
ic
h
a
r
e
re
fer
e
nce
m
ode
l
a
n
d
ada
p
tive
m
o
d
e
l.
T
he
e
rr
or
b
e
t
w
e
en
t
he
t
w
o
m
ode
l
s
i
s
us
ed
t
o
est
i
ma
t
e
t
he
u
n
k
n
o
wn
p
ara
m
e
t
er
(
spee
d
i
s
t
h
e
u
n
k
n
o
w
p
a
r
am
eter
)
[
8
],
[
10]-[13
]
.
Observer
b
ased
e
stim
ator
i
s
an
e
st
ima
t
or
u
s
i
n
g
a
dap
t
ive
mode
l
w
i
t
h
u
p
d
a
t
ed
g
a
i
n
“
K
”
cons
ta
n
tl
y.
T
here
a
re
a
f
ew
t
yp
es
o
f
obser
ve
rs
t
h
a
t
have
b
ee
n
use
d
b
y
m
a
n
y
r
e
s
ear
cher
s,
d
e
p
e
n
d
i
ng
on
t
h
e
e
s
t
i
ma
t
e
d
sta
t
e
va
ria
b
le
a
n
d
t
h
e
m
ode
l
ba
se
d
of
t
he
mo
t
o
r.
A
mo
ng
th
e
m
,
J.
S
o
l
so
n
a
e
t
a
l
,
[1
4]
u
se
d
ex
t
e
nde
d
no
nli
n
e
ar
obs
er
ver
w
h
ic
h
em
p
l
oys
t
he
s
ta
te
obs
erve
r
to
e
st
ima
t
e
the
r
o
t
o
r
posi
t
i
o
n
a
n
d
spe
e
d
t
h
r
o
u
gh
torq
u
e
e
s
t
i
m
a
t
o
r
.
T
h
e
n
,
J
.
S
P
a
r
k
e
t
a
l
,
[
7
]
u
s
e
d
pos
it
io
n
tra
c
k
i
ng
o
bser
ver
b
a
sed
on
i
ns
ta
n
t
ane
o
us
pow
er
.
T
h
is
t
rac
k
i
n
g
obse
r
ver
g
i
ves
go
o
d
r
e
s
u
l
t
s
f
or
p
a
ramet
e
r
v
a
ri
at
ion
s
.
In
2005
,
T.D.
B
at
ze
l
a
n
d
K.Y.
L
ee
,
[6
]
c
a
m
e
o
u
t
w
i
t
h
Obser
v
e
r
P
ole
Plac
em
ent
for
elec
tr
ic
p
r
o
pu
lsi
on.
O
ther
t
h
a
n
tha
t
,
L.
S
al
vat
o
re
a
nd
S
.
S
t
a
s
i
,
[
15]
u
se
d
a
n
E
xte
n
de
d
K
a
l
m
an
F
ilter
(EK
F
)
t
h
eo
ry
f
o
r
p
a
r
amet
ers
an
d
st
ate
e
s
t
i
m
at
io
n
of
P
M
S
M
s
d
ri
v
e
s
a
n
d
t
h
e
spe
e
d
r
esponse
s
f
o
l
l
o
w
t
h
e
c
h
a
n
ge
s very
w
e
ll.
T
he
m
ai
n
pro
b
lem
w
i
t
h
E
K
F
i
s
i
t
d
o
e
s
n
o
t
d
ete
r
mi
ne
t
he
r
e
al
c
ov
a
r
ianc
e
i
n
n
o
n
l
i
n
e
a
r
t
r
ans
f
or
m
a
tio
n.
To
o
ve
rcom
e t
h
is pro
bl
e
m
, D.Janisze
w
s
k
i
,
[
16
]
c
a
m
e
out w
ith so
l
ut
i
on w
h
ic
h em
pl
oys
an U
n
scen
te
d K
a
lm
an
Filter
(U
K
F
).
T
h
i
s
t
ype
o
f
fil
t
er
u
ses
on
l
y
t
he
m
ea
surem
e
nt
o
f
m
o
t
o
r
c
u
rrent
f
or
on-
l
i
n
e
e
st
im
at
ion
o
f
s
pee
d
,
rot
o
r
po
si
tio
n
and
l
o
a
d
t
orq
u
e
r
ec
onstruc
t
i
o
n
.
A
nd
M
.
P
r
eind
l
a
n
d
E.
S
chaltz,
[1
7]
c
h
o
se
s
eco
nd
or
der
P
h
ase
Lo
ck
ed
L
oop
(P
LL)
o
b
s
erv
e
r
a
s
t
h
e
e
sti
m
a
t
o
r
w
h
i
ch
u
se
s
M
o
d
e
l
Pr
e
d
ic
tive
D
i
r
ect
C
urrent
C
o
nt
r
o
l
(M
P
D
CC
).
F
o
r
sig
n
al
i
nje
c
tio
n
m
e
th
o
d
,
the
fea
t
ur
e
o
f
s
a
lien
t
-P
MS
M
s
s
uc
h
as
v
a
r
ia
tio
n
o
f
i
n
duc
t
a
nce
w
ith
t
he
rot
o
r
posit
i
on
i
s
e
mplo
yed.
H
i
gh
fre
q
u
e
nc
y
v
o
lta
ge
o
r
c
u
r
r
ent
s
i
g
na
l
is
i
n
j
e
c
ted on
the
t
o
p
of
t
he
f
u
n
d
am
enta
l
syste
m
s
me
anw
h
i
l
e
si
g
n
al
p
r
o
cessi
n
g
(
ve
ctor
f
ilte
rs
w
i
t
h
pre
d
i
c
ta
ble
ti
m
e
d
e
l
ay)
i
s
e
m
p
loye
d
t
o
e
xt
r
a
c
t
curr
ent
ha
rm
on
ic
s
t
h
a
t
c
o
n
t
a
i
n
r
o
tor
po
s
i
tion.
T
herefore,
the
p
os
i
t
i
on
s
til
l
ca
n
be
e
st
im
ated
e
ve
n
t
h
ou
g
h
a
t
st
a
nds
til
l
a
n
d
low
spe
e
d
o
pera
t
i
o
n
s.
M
ore
o
v
e
r,
t
he
r
otor
posi
t
i
on
s
t
i
ll
ca
n
be
e
s
tima
t
e
d
e
ven
a
t
s
ta
n
d
s
til
l
a
n
d
low spee
d o
p
er
atio
n
and r
o
bu
st
ly t
owar
ds t
h
e
pa
r
am
ete
r
variat
i
o
ns
[
18]-[21].
Thi
s
c
u
rre
n
t
s
tu
dy
i
nt
ro
du
c
e
s
a
s
e
n
so
rl
ess
t
e
c
h
niq
u
e
u
sing
a
d
a
p
t
i
v
e
m
o
d
el
b
a
s
ed
u
si
ng
di
ffe
rent
i
a
l
of
d-q
c
urr
e
n
t
s
a
nd
vo
l
t
a
g
es
t
o
estim
ate
the
spee
d
o
f
t
he
m
otor
[
22].
T
h
e
a
d
v
a
nt
a
g
es
o
f
th
e
p
r
opo
sed
met
hod
are
,
t
he
a
l
g
or
it
hm
i
s
ver
y
s
im
ple
ye
t
s
t
i
ll
ac
hie
v
e
a
g
o
o
d
pe
rf
or
ma
nce,
a
n
d
t
he
a
bse
n
c
e
o
f
t
h
e
vo
l
t
a
g
e
pro
b
e
,
ma
de
t
his
tec
hni
q
u
e
mor
e
e
con
o
m
i
c
t
h
en
t
hos
e
w
h
ic
h
us
e
the
v
o
lt
a
g
e
p
r
obe.
The
bas
i
c
dia
g
r
a
m
for
overa
l
l
bl
oc
k
d
i
a
g
ram
is
d
ep
ic
ted
in
F
igure
1.
T
he
f
ig
ure
dep
i
c
t
s
t
h
e
o
vera
ll
b
l
ock
dia
g
ra
m
of
S
ensorless
S
p
ee
d
Co
nt
rol
o
f
P
M
S
M
d
r
i
v
e
s
u
sing
sp
eed
an
d
posi
t
i
on
est
i
m
at
or.
2.
FIELD ORIENT
E
D
CO
NTROL
(FOC) O
F
T
HR
EE
-
P
H
A
S
E
PMSM
DRI
VE
S
The
ma
t
h
e
m
a
t
i
c
al
e
qua
t
i
o
n
s
of
P
MS
M
ar
e
deve
lope
d
w
i
t
h
a
f
e
w
a
ss
umpt
i
o
n
s
s
uc
h
as
p
ara
m
e
t
e
r
cha
nge
s,
t
he
i
n
duc
e
d
E
MF
i
s
si
nus
o
i
d
a
l,
e
dd
y
curr
ent
s
a
n
d
hys
te
re
si
s
lo
s
s
es
a
re
n
e
g
l
i
gi
ble,
n
o
fiel
d
c
u
rrent
dy
nam
i
c
s
a
n
d
no
c
a
ge
o
n
t
h
e
rot
o
r.
T
he
m
athem
a
tica
l
m
ode
l
for
a
P
MS
M
in
d-q
r
e
f
er
ence
f
ra
me
c
an
b
e
deter
m
i
n
ed
b
y fo
l
l
ow
ing
eq
ua
ti
o
n
s [1]
,
[1
0].
q
e
d
d
s
d
dt
d
i
r
v
(1
)
d
e
q
q
s
q
dt
d
i
r
v
(2
)
where:
,
:
d-
q
a
xi
s
v
o
lta
ge
,
:
d-q
a
xis
curr
ents
d
v
q
v
d
i
q
i
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
12
8 –
13
6
13
0
:
e
lectri
cal speed of m
o
tor
: stator
resistance
,
:
d-q
a
xis
fl
ux l
i
nka
ges
The
fl
u
x
li
n
ka
ge
s
are
e
xpressed
as state
d
i
n
(3)
a
nd
(4).
m
d
d
d
i
L
(3
)
q
q
q
i
L
(4
)
wh
ere:
,
:
d-
q
axis in
d
u
cta
n
ces
m
: fl
ux l
i
nka
ge
d
ue
t
o
t
h
e
rotor
ma
gnet
s
li
n
k
i
ng
the
s
ta
t
o
r
B
y
subs
t
itu
t
i
ng
(
3)
a
nd (
4
) int
o
(
1
)
a
nd
(
2), the
n
ew
e
qua
ti
o
n
s
for
sta
tor v
o
lta
ges
are
:
q
q
e
d
d
d
s
d
i
L
i
dt
d
L
i
r
v
(5
)
m
e
d
d
e
q
q
q
s
q
i
L
i
dt
d
L
i
r
v
(6
)
Th
e el
ect
ro
ma
g
n
e
ti
c
t
o
r
q
u
e
is
]
)
(
[
2
3
q
d
q
d
q
m
em
i
i
L
L
i
p
T
(7
)
a
nd,
e
e
L
em
B
dt
d
J
T
T
(8
)
wh
ere;
P
: num
ber
of
pol
e pair
s
T
L
: loa
d
t
orqu
e
B
:
d
a
mp
i
n
g
c
o
eff
i
ci
ent
J
:
mom
e
nt
o
f iner
tia
The
i
n
st
a
n
t
a
ne
ous a
ng
ula
r
po
s
i
t
i
o
n
i
s
;
d
t
d
r
(9
)
F
i
gure
1.
S
e
n
sor
l
e
s
s
spee
d
co
ntr
o
l o
f
P
MS
M
drives us
i
ng s
p
ee
d &
p
os
it
io
n
estim
ator
I
n
v
e
c
t
o
r
c
o
n
t
r
o
l
,
t
h
e
d-q
c
u
rre
nts
a
nd
v
o
l
ta
ges
res
u
l
t
s
i
n
c
o
n
t
rol
o
f
t
he
s
pa
t
i
al
o
rien
t
ati
on
of
t
he
elec
tr
oma
gne
t
i
c
fie
l
ds
i
n
the
m
a
c
h
i
n
e
a
n
d
h
a
s
le
d
to
t
he
t
e
r
m
o
f
fiel
d
ori
e
nta
t
i
o
n.
G
ene
r
ally,
v
e
ct
or
c
o
n
tr
ol
i
s
e
s
r
d
q
d
L
q
L
Spe
e
d
co
nt
r
o
ll
e
r
cu
r
r
e
n
t
c
ontr
o
l
l
er
c
u
rre
n
t
c
o
n
t
ro
lle
r
abc
DQ
SV
P
W
M
PMS
M
DQ
abc
Pa
r
k
in
ve
r
s
e
cl
ar
k
inv
e
r
s
e
P
a
rk
c
l
a
rk
i
d
*
=
0
i
q
*
c
b
a
c
b
a
v
i
,
,
,
,
&
S
p
eed
&
P
o
s
i
ti
o
n
Es
t
i
m
a
t
o
r
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
Spe
e
d
a
nd p
o
si
ti
on est
i
m
a
t
o
r
of
for sen
s
orle
ss PMSM d
r
ive
s
usi
ng
a
d
a
p
tiv
e
c
ontro
l
l
er
(J
ur
i
f
a Ma
t
L
a
zi)
13
1
r
e
s
e
r
v
e
d
f
o
r
c
o
n
t
r
o
l
l
e
r
s
t
o
m
a
i
n
t
a
i
n
a
9
0
0
sp
a
t
i
a
l
or
i
e
n
t
a
tio
n
be
tw
e
e
n
c
r
i
t
ica
l
f
i
e
ld
c
o
m
pone
n
t
s
an
d
he
n
c
e
a
d
opt
t
h
e
t
e
r
m
f
i
eld
an
gl
e
c
ont
ro
l
for
s
y
s
t
em
s
whic
h
depart
fro
m
the 90
0
.
F
rom
(3),
i
f
d
i
is forc
e
d to be ze
r
o
,
t
h
en
equ
a
t
i
o
n
(
7
) wi
l
l
b
eco
me
;
q
m
e
i
P
T
2
3
(10)
F
r
om
t
he
(
10)
,
the
q
u
adra
tur
e
a
xis
c
u
rren
t
,
i
q
i
s
pro
p
o
rtio
na
l
t
o
t
he
e
lec
t
r
o
ma
gne
ti
c
tor
que,
T
e
.
B
u
t
thr
o
u
g
h
(
8),
th
e
ele
c
t
rom
a
gn
etic
t
orq
u
e
is
d
e
r
iva
t
i
v
e
fu
nc
tio
n
of
s
pe
e
d
.
Thro
ug
h
this
r
e
l
at
ion
s
h
i
p,
t
h
e
s
pee
d
con
t
ro
l
l
er
c
an
b
e
ap
p
l
ied
as
s
how
n
in
F
i
g
1
.
The
s
p
e
e
d
c
on
tro
l
l
e
r
e
st
i
m
a
t
e
s
t
he
t
or
q
u
e
t
h
ro
u
gh
refe
renc
e
curr
ent,
i
q
*,
th
e
n, t
w
o
c
ur
ren
t
c
on
tro
l
le
rs
c
onve
r
t
t
he
i
q
*
a
n
d
i
d
*
sig
nals to
vo
l
t
a
g
es
(
V
q
*,
V
d
*
).
T
hese
v
o
lta
ges
are
then,
tra
n
sf
orm
e
d to
α
-
β
m
odel
by
us
in
g
i
n
ve
rse
P
a
r
k
’s tra
nsf
o
rm
atio
n;
q
d
i
i
i
i
cos
sin
sin
cos
(11)
The
n
,
usi
ng
i
n
v
e
rse
Clar
k
’
s
equa
t
i
o
n
,
V
α
*
a
nd
V
β
*
,
are
c
o
n
v
e
r
te
d
t
o
t
hr
ee
phase
vol
ta
ge
s,
Va,
Vb,
Vc
t
hr
o
u
g
h
t
he e
qua
t
i
on
be
l
o
w
. Inver
s
e Clark
’
s
transfor
ma
t
i
on
;
v
v
v
v
v
c
b
a
2
3
2
1
2
3
2
1
0
1
(12)
The
V
a,
V
b
,
a
n
d
V
c
sign
a
l
s
a
r
e
u
s
e
d
t
o
p
r
odu
ce
SVP
W
M
swit
chi
n
g
si
gn
al
s
b
e
fo
re
t
h
e
y
c
an
b
e
u
s
ed
t
o
dri
v
e
a
P
M
S
M
.
Then,
the
ou
t
p
u
t
o
f
the
P
M
S
M
d
ri
ves
ar
e
thre
e-p
h
a
se
v
o
l
ta
ges
an
d
c
u
rre
n
t
s.
T
hese
c
u
rre
nt
s
and
v
o
l
t
a
g
es
a
re
u
sed
i
n
t
he
s
pe
e
d
a
n
d
p
o
s
i
t
i
o
n
es
tima
t
or
.
The
esti
ma
t
o
r
wi
ll
p
ro
du
ce
t
h
e
e
st
i
m
at
e
d
v
a
l
u
e
o
f
motor’
s
spe
e
d
.
The
est
i
ma
ted
rotor
po
si
tio
n
is
c
a
l
c
u
l
a
te
d
b
y
i
n
t
e
grat
i
ng
the
va
lue
of
t
he
m
otor
s
pe
e
d
.
T
h
e
n
,
the
thr
ee-
pha
s
e
c
urr
e
nt
o
f
t
h
e
P
M
S
M
a
re
c
o
nve
r
t
ed
t
o
d-q
m
o
d
e
l
b
a
c
k
b
y
u
s
i
n
g
C
l
a
r
k
a
n
d
P
a
r
k
’
s
trans
f
or
mat
i
on as depicte
d
below.
Cla
r
k’s tra
n
sfo
r
m
a
tion;
c
b
a
i
i
i
i
i
3
1
3
1
0
3
1
3
1
3
2
(13)
Park’s
tr
a
nsform
ation;
i
i
i
i
q
d
cos
sin
sin
cos
(14)
F
i
nal
l
y,
t
he
a
c
t
ua
l
i
d
a
nd
i
q
w
il
l
be
c
om
pa
re
d
w
i
t
h
t
he
r
efere
n
ces
c
urre
nt
t
o
prod
uce
t
h
e
er
ro
r
t
h
a
t
w
ill
be c
orre
ct
ed
u
sin
g
a
da
pt
ive
c
o
n
t
r
o
l
l
er
.
3.
SPEED AND
POSITI
O
N
ES
T
I
MA
T
O
R DES
I
GN
F
i
gure
2
s
h
ow
s
t
h
e
c
onf
i
g
ur
at
ion of
s
pee
d
a
n
d
p
osit
i
on
e
s
t
i
m
a
t
i
on
m
eth
od.
I
t
c
o
n
s
ist
s
o
f
t
h
re
e
-
ph
a
s
e
to
t
w
o
-pha
se
c
on
ver
s
i
o
n,
a
d
j
u
s
t
a
b
l
e
m
o
del
an
d
ada
p
ta
ti
o
n
m
echa
n
i
s
m
.
T
he
o
bjec
tive
of
t
he
d
es
i
g
n
i
s
t
o
reduc
e
t
h
e
n
o
i
se
i
m
p
ac
t
to
c
on
tro
l
a
n
d
i
n
f
l
u
ence
t
he
s
y
s
t
e
m
tra
nsie
nt
r
e
s
po
nse
a
s
s
m
a
l
l
a
s
p
o
ss
ib
le.
I
n
it
ial
l
y
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
12
8 –
13
6
13
2
the
t
h
ree
-
phas
e
v
o
lta
ge
a
n
d
c
urre
nt
a
re
c
o
nver
t
e
d
t
o
d-q
m
odel.
T
he
n,
t
he
d-
q
c
u
r
re
nts
a
n
d
vo
lt
ag
e
s
w
i
l
l
be
u
s
ed
i
n
ad
ju
st
ab
l
e
m
od
e
l
a
nd
a
d
a
pt
ati
o
n
me
ch
a
n
i
s
m
res
p
ecti
v
ely
.
F
r
o
m
(5)
a
nd
(
6
),
t
he
p
hase
t
ransf
o
r
m
a
tio
n
and
ad
j
u
sta
b
le
m
odel c
a
n b
e
expr
esse
d a
s
(15)
a
nd
(16).
d
k
q
q
k
e
k
d
s
k
d
k
d
L
i
L
i
r
v
i
dt
d
)
ˆ
ˆ
ˆ
(
ˆ
)
(
)
(
)
(
)
(
*
)
1
(
(
15)
q
m
e
k
d
d
e
k
q
s
k
q
k
q
L
i
L
i
r
v
i
dt
d
)
ˆ
ˆ
ˆ
ˆ
(
ˆ
)
(
)
(
)
(
*
)
1
(
(
16)
w
h
er
e “
^
”
is r
e
f
e
rrin
g
to e
s
ti
m
a
ted
va
lue
q
m
e
d
d
e
q
s
q
q
d
q
q
e
d
s
d
d
L
i
L
i
r
v
i
dt
d
L
i
L
i
r
v
i
dt
d
^
^
^
^
)
(
)
(
)
(
)
(
)
(
)
(
^
^
^
^
s
k
k
i
i
L
i
i
i
i
i
p
e
q
q
m
d
q
q
d
co
s
si
n
si
n
co
s
i
i
i
i
i
i
q
d
c
b
c
b
a
i
i
i
i
i
i
i
3
1
3
1
)
(
3
1
s
1
s
1
dq
v
*
abc
i
^
d
i
^
q
i
e
^
d
i
q
i
F
i
gure
2.
C
o
n
fi
gura
tio
n
of spe
e
d
a
nd
p
os
iti
o
n
estima
t
or
Th
e
o
u
t
p
ut
o
f
c
o
nv
ersi
on
t
hree
-p
h
a
se
m
o
d
el
i
s
e
s
ti
mat
e
d
d-q
c
u
r
r
e
n
t
w
h
i
c
h
a
r
e
c
o
m
p
a
r
e
d
t
o
t
h
e
ac
t
u
a
l
d-
q
a
x
i
s
cur
r
ents.
The
i
d
and
i
q
c
u
r
re
n
t
s
a
r
e
u
s
ed
t
o
c
a
l
c
u
l
at
e
t
h
e
e
s
t
i
m
at
e
d
s
p
e
e
d
u
si
n
g
ad
apt
at
i
on
me
cha
n
ism
.
T
he
a
d
a
p
t
a
t
i
o
n
me
cha
n
ism
is
d
e
s
i
g
ne
d
in
o
r
d
er
t
o
im
p
r
ove
t
h
e
s
ta
b
i
l
i
t
y
a
nd
be
h
a
vior
o
f
t
h
e
ada
p
t
i
ve
s
ys
te
m
.
I
t
is
c
alcul
a
ted
usin
g
P
opo
v’s
h
yper
-
st
abi
lit
y
t
he
ory
to
d
eve
l
op
t
h
e
estima
t
e
d
s
pe
e
d
a
s
dep
i
c
t
ed
i
n
(17
)
.
s
k
k
i
p
est
(
17)
est
q
q
m
est
d
q
est
q
d
i
i
L
i
i
i
i
(
18)
The
rot
o
r
posi
t
i
on
is
f
u
n
c
t
i
o
n
of
d
e
r
i
v
a
t
i
v
e
of
t
he
(
9).
A
n
e
st
im
ation
error
,
is
d
e
f
ine
d
by
(1
8)
a
nd
it
i
s
der
i
ve
d
w
h
e
n
t
he
s
pe
e
d
u
se
d
i
n
t
he
c
ur
re
nt
m
ode
l
i
s
n
ot
i
d
e
nt
i
c
a
l
t
o
ac
t
u
al
m
od
el
w
i
t
h
out
a
ny
i
nf
lu
en
ce
of
p
ara
m
e
t
er
v
aria
tio
n.
A
t
u
n
i
n
g
s
i
g
n
a
l
for
adj
u
s
t
a
b
le
m
o
d
el
i
s
g
en
era
t
ed
f
r
o
m
th
e
re
gu
l
a
ti
on
o
f
t
h
i
s
e
rro
r
t
h
r
o
u
g
h
a
P
I
c
o
n
t
r
o
l
l
e
r
.
T
h
e
p
r
o
c
e
s
s
c
o
n
t
i
n
u
e
s
t
i
l
l
t
h
e
e
r
r
o
r
b
e
t
we
e
n
t
wo
out
put
s
t
e
n
d
s
t
o
z
e
r
o
.
T
h
e
con
t
ri
b
u
ti
on
of
t
h
i
s
t
e
c
h
n
i
qu
e
i
s
t
he
s
im
p
l
e
ma
t
h
e
m
a
tic
al
e
qua
t
ion
for
th
e
estima
t
or
w
hic
h
b
a
s
e
d
on
b
a
sic
motor
param
e
ter
s
o
nly
whic
h
are;
s
tator
res
i
stance
R
s
,
axe
s
i
nd
uc
tanc
e
s
L
d
a
n
d
L
q
a
n
d
f
l
u
x
li
nka
ge
p
r
o
duce
d
by
m
a
gne
t
m
.
A
ddi
ti
o
n
al
ly,
th
e
est
i
m
a
tor
d
o
e
s
n
o
t
n
ee
d
a
n
y
refere
nce
m
ode
l
s
uc
h
as
i
n
MRA
C
,
in
o
r
d
er
t
o
get
the
es
ti
m
a
t
e
d
s
p
e
e
d
o
utp
u
t,
w
hic
h
i
n
tur
n
r
e
duce
d
t
h
e
c
om
pl
e
x
it
y
of
t
he
c
o
n
v
en
t
i
o
n
a
l
e
s
t
i
m
at
or.
This
tech
n
i
q
u
e als
o
,
d
o
es
n
ot
u
t
i
l
i
z
e
t
h
e
v
o
l
ta
ge p
robe,
bu
t on
ly us
i
n
g the
r
e
fe
renc
e
d-q
v
ol
ta
ge tha
t
pr
o
v
ide
d
fr
o
m
curr
ent c
o
nt
r
o
l
l
er
.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
Spe
e
d
a
nd p
o
si
ti
on est
i
m
a
t
o
r
of
for sen
s
orle
ss PMSM d
r
ive
s
usi
ng
a
d
a
p
tiv
e
c
ontro
l
l
er
(J
ur
i
f
a Ma
t
L
a
zi)
13
3
3.1.
Har
d
war
e
Imp
leme
n
t
a
t
i
o
n
The
har
d
w
a
re
s
et-u
p
of
t
he
P
MS
M
dr
ive
s
a
re
p
r
e
sen
t
e
d
i
n
F
i
g
u
r
e
3
.
I
t
c
o
n
s
is
ts
o
f
P
e
rson
a
l
C
o
m
p
u
t
e
r
(
P
C
)
,
V
o
l
t
a
g
e
S
o
u
r
c
e
I
n
v
e
r
t
e
r
(
V
S
I
)
,
P
M
S
M
a
n
d
H
a
l
l
-
e
f
f
ec
t
c
u
rre
n
t
s
e
n
s
o
rs.
The
m
i
cropr
oc
essor
boar
d
f
or
t
h
e
s
ys
tem
is
d
S
P
A
C
E
D
S
P
DS
11
03.
T
he
D
S
1
1
0
3
i
s
e
q
u
i
p
p
ed
w
it
h
a
TM
S32
0
F
24
0
th
a
t
act
s
as
sl
a
v
e
proce
sso
r
for
ad
va
nc
e
d
I
/O
pur
pose
s
.
The
p
o
w
e
r
c
i
rcui
t
o
f
t
he
d
ri
ve
s
is
u
s
i
ng
I
G
B
T-
b
a
s
e
d
t
hr
ee-
pha
se
V
S
I
a
nd
ga
t
e
d
r
i
ve
r
circu
i
ts.
The
P
M
S
M
m
ode
l
is
B
S
M
9
0
C
-2
15
0
ma
n
uf
acture
d
b
y
BA
LD
O
R
.
The
de
tai
l
s
o
f
motor’
s
pa
ram
e
ter
s
a
r
e
s
how
n
i
n
T
a
b
l
e
1
.
T
h
e
sim
u
l
a
tio
n
and
a
n
a
l
y
s
i
s
o
f
t
h
e
P
M
S
M
d
r
i
v
e
s
a
r
e
e
x
e
c
t
e
d
u
s
i
n
g
M
A
TLAB/
S
i
mu
lin
k
.
T
h
e
m
od
el
i
s
do
wnl
o
ad
ed
t
o
t
h
e
inpu
t
/
o
u
tp
ut
c
o
nn
ecti
o
n
via
Rea
l
T
i
m
e
(RTI)
l
i
brar
y.
The
im
p
l
e
m
e
n
t
a
t
i
on
of
t
he
m
ode
l
is
c
a
rrie
d
o
u
t
u
si
n
g
R
TI
h
ardw
a
re
t
hro
u
g
h
d
S
P
A
C
E
expa
n
s
i
on
bo
x.
A
fter
v
e
ri
fi
cati
o
n
i
n
a
r
ea
l
e
nvi
ronmen
t
,
t
h
e
o
ut
pu
ts
a
re
m
ea
su
re
d
a
n
d
cont
ro
l
l
e
d
t
h
r
oug
h
Grap
hi
cal
U
se
r
In
te
rf
a
c
e
(GU
I
)
i
n
d
SP
AC
E
C
ont
rol
De
sk
.
Th
en
t
he
o
u
t
pu
t
of
t
h
e
P
M
S
M
d
r
iv
e
s
sys
t
e
m
s
uc
h
a
s
s
pee
d
,
rot
o
r
pos
i
t
i
o
n
and
t
h
re
e-pha
s
e
c
urrents
a
r
e
me
asured
a
n
d
u
sed
as
s
ys
te
m
fe
edba
ck
u
si
ng
d
S
P
ACE’s
An
alo
g
t
o
Di
gi
t
a
l
(ADC)
p
o
r
t
s
.
F
i
gure
3.
H
ar
d
w
are
im
pl
e
m
enta
t
i
o
n
f
or
s
e
n
sorless P
M
S
M
dri
ves
4.
EXPE
RIMENTAL
R
ESULT
S
F
i
gure
4
t
o
F
i
gure
6
r
e
pre
s
ent
t
h
e
de
ta
i
l
ed
b
eha
v
ior
of
s
pe
ed
r
es
po
nse
s
f
or
t
h
e
p
r
o
pose
d
m
eth
o
d
.
The
mot
o
r
i
s
t
e
s
t
e
d a
n
d
ex
pe
ri
me
nt
a
l
r
e
s
u
l
ts ca
p
tur
e
d a
r
e
under
f
oll
o
w
i
ng d
i
ff
e
r
e
n
t
o
p
e
r
a
t
i
n
g
c
o
ndit
i
ons:
4.1.
For
w
a
r
d
an
d
re
ver
s
e
op
erat
i
on
F
i
gure
4
s
h
ow
s
t
h
e
r
o
b
u
s
t
nes
s
o
f
the
pr
op
os
ed
c
on
tro
l
ler
fr
om
f
or
w
a
rd
t
o
reve
rse,
a
nd
from
r
eve
r
se
to
f
o
r
w
a
rd
o
pe
r
a
ti
o
n
s.
T
he
P
MSM
i
s
t
es
te
d
run
n
in
g
a
t
3
0
0
rpm
(
f
o
rward)
t
o
-
3
00r
p
m
(reverse)
a
t
t
=
5.5s
a
nd
dur
in
g
t
=
10s,
the
P
M
S
M
i
s
pus
h
t
o
oper
a
t
e
f
r
o
m
re
verse
to
f
or
w
a
rd
c
o
n
d
i
tio
n.
T
he
c
on
tro
l
l
e
r
also
t
e
s
te
d
i
n
incre
a
se
s
te
p
c
o
m
m
a
nd
c
ond
i
t
i
on
from
3
0
0
r
p
m
t
o
6
0
0
r
p
m.
T
he
s
ys
t
e
m
g
ive
s
g
o
od
spee
d
re
sp
onse
w
i
t
h
o
u
t
hu
ge o
ve
rsh
o
o
t
duri
ng t
h
e
t
r
an
siti
o
n
.
(a)
(b)
(c)
(d)
F
i
gur
e 4.
Expe
rime
nt
a
l
r
e
s
ul
t
s
for
for
w
a
rd
a
nd r
e
ver
s
e ope
rati
o
n
;
(
a)
speed
r
espo
nse,
(b)rot
o
r pos
iti
on
;
(c)zoom
view
f
o
r
rotor pos
ition
at 3s
<
t
<
8
s,
(reverse
operat
i
o
n),
(d)
z
oom
view
for
rotor pos
i
tio
n
at 1
6s < t
<20s
(
forw
ard
opera
ti
o
n
)
0
5
10
15
20
-5
0
0
0
50
0
10
00
time
(s
)
s
p
eed
(rp
m
)
r
e
f
. s
pe
e
d
es
t
i
m
a
t
ed
s
p
eed
r
e
s
o
l
v
er
s
p
e
ed
0
5
10
15
20
25
-2
pi
2p
i
time
(s
)
r
o
to
r
p
o
s
i
tio
n
e
s
t.
p
o
s
it
io
n
ac
t.
p
o
s
itio
n
3
4
5
6
7
8
-2
pi
2p
i
time
(s
)
ro
to
r
p
o
s
i
tio
n
e
s
t.
p
o
s
it
io
n
ac
t.
p
o
s
itio
n
16
16.5
17
17.
5
18
18.
5
19
19.
5
20
-2
pi
2p
i
time
(s
)
ro
to
r
p
o
s
i
tio
n
e
s
t.
p
o
s
it
io
n
ac
t.
p
o
s
itio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
12
8 –
13
6
13
4
4.2.
Ac
celer
ati
o
n
F
i
gure
5
pr
esent
s
t
he
e
x
p
eri
m
ental
res
u
l
t
f
or
s
pe
e
d
acc
el
er
atio
n
fr
om
1
80r
pm
t
o
84
0rpm.
The
actu
a
l
and
e
s
t
i
m
a
te
d
spee
d
re
sp
onse
s
f
o
l
low
w
e
ll
the
r
e
fe
renc
e
inp
u
t
.
The
s
p
e
e
d
r
efere
n
ce
s
t
a
r
ts
a
t
18
0rpm
.
Th
i
s
con
d
i
t
i
on
h
a
p
pen
be
ca
use
t
h
e
e
s
t
i
m
a
t
o
r
u
t
i
l
i
z
es
t
h
e
d
i
r
e
c
t
a
nd
qu
a
d
ratu
re
c
u
rren
t
a
nd
v
olt
a
g
e
e
qua
t
i
on
s,
ma
kes t
h
e
e
s
ti
ma
tor una
ble
t
o
c
alc
u
la
te
t
he spe
e
d
d
urin
g ini
t
i
a
l c
o
n
d
i
ti
on
due to ze
ro m
agne
tiz
in
g curre
nt a
n
d
vo
lta
ge
w
i
t
hi
n
t
h
a
t
t
ime
r
a
nge.
I
n
p
r
actica
l
,
t
h
e
se
n
s
or
l
e
ss
n
e
e
d
o
t
h
e
r
s
t
a
r
t
e
r
m
e
t
h
o
d
t
o
m
o
v
e
t
h
e
P
M
S
M
.
O
t
herw
ise,
f
or
t
h
i
s
c
u
rre
nt
s
t
udy,
t
he
P
M
S
M
is
s
tar
t
e
d
m
anua
lly
a
nd
ma
ke
it
syn
c
hro
n
i
ze
w
i
t
h
t
he
est
i
ma
t
e
d s
p
ee
d.
(a)
(b)
(d)
F
i
gure
5.
E
xpe
rim
e
nta
l
r
esult
s
for spe
ed a
cc
elera
tio
n
;
(a
)
spee
d
re
s
ponse
; (b)
r
otor po
s
i
t
i
o
n
;
(c)
z
oom
v
iew
f
o
r
rotor pos
it
ion at 6s < t
<
7
s
4.3.
L
oad
d
ist
u
rb
an
c
e
The
l
o
ad
r
eje
c
tio
n
ca
pa
b
i
l
i
t
i
e
s
a
re
i
nve
s
t
i
g
a
t
ed
b
y
a
p
ply
i
n
g
r
a
te
d
e
x
tern
a
l
l
oa
d
d
i
s
t
urb
a
nc
e
dur
i
n
g
spec
ifie
d s
p
ee
d
.
The
m
otor is in
i
t
ia
ll
y o
p
e
r
at
ed u
n
d
er no lo
ad
c
ond
it
i
o
n
. Th
e
lo
a
d
di
st
u
r
ba
n
c
e
i
s
a
pp
l
i
e
d a
t
t
=
12s.
T
h
e
P
M
S
M
e
xpe
rie
n
ce
d
sm
all
un
ders
ho
o
t
d
uri
n
g
th
e
rejec
tio
n
a
nd
a
b
l
e
t
o
rec
ove
r
w
i
t
h
i
n
1
s
ec
on
d.
Table
1 shows
m
o
tor specifications.
(a)
(b)
0
1
2
3
4
5
6
7
8
-5
00
0
50
0
100
0
150
0
ti
m
e
(
s
)
s
p
eed
(
r
p
m
)
a
c
t
.
s
p
eed
es
t
.
s
p
eed
r
e
f
.
s
p
eed
0
1
2
3
4
5
6
7
8
2pi
2pi
ti
m
e
(s
)
ro
to
r p
o
s
iti
o
n
e
s
t.
p
o
s
it
io
n
a
c
t
.
p
o
s
iti
o
n
6
6.2
6.4
6.6
6.
8
7
2pi
2pi
ti
me
(
s
)
ro
to
r p
o
s
i
t
i
o
n
e
s
t
.
p
o
s
it
io
n
a
c
t.
po
s
it
i
o
n
0
5
10
15
20
25
0
20
0
40
0
60
0
80
0
10
00
12
00
ti
m
e
(
s
)
s
p
eed
(
r
p
m
)
0
5
10
15
20
25
1
1.
2
1.
4
1.
6
1.
8
2
ti
m
e
(
s
)
iq
(
A
)
i
q
e
s
t
imat
e
d
i
q
r
ef
eren
ce
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
Spe
e
d
a
nd p
o
si
ti
on est
i
m
a
t
o
r
of
for sen
s
orle
ss PMSM d
r
ive
s
usi
ng
a
d
a
p
tiv
e
c
ontro
l
l
er
(J
ur
i
f
a Ma
t
L
a
zi)
13
5
(c)
(d)
F
i
gure
6.
E
xpe
rim
e
nta
l
r
esul
ts
f
or
l
oa
d dis
t
u
r
b
a
nce
;
(
a)
spe
e
d
r
espo
nse
;
(
b)qua
dra
t
ur
e c
u
rre
n
ts; (
c
)e
st
im
at
ed
a
n
d
ac
tua
l
r
ot
o
r
posi
tio
ns
;
(
d)z
oom
v
i
e
w
f
o
r e
s
t
i
m
a
ted
an
d a
c
t
ua
l r
o
tor
po
siti
o
n
a
t
12s
<
t
< 1
3s
Ta
b
l
e 1.
Mot
or
spec
i
fica
t
i
o
n
s
B
il
P
A
R
A
M
ETERS
V
a
l
u
e
s
1
Ra
te
d T
o
r
que
1
.
6
5
Nm
2
Ra
te
d
Sp
e
e
d
200
0
rpm
3
Nu
m
b
e
r
of
pole
-
pa
irs
4
4
I
n
e
r
t
i
a
0.
0
003
389
kgm
2
5
Re
si
st
a
n
c
e
4.
3
3
6
I
n
d
u
c
t
a
n
c
e
0
.
0
176H
7
Ma
gne
t
Flux
0.
1
949
25
V
s
8
DC
L
i
nk V
o
lta
g
e
300
V
5.
CONCL
U
S
ION
The
ex
perim
e
n
t
al
r
es
ul
ts
p
r
e
sent
t
he
e
ffic
ie
nc
y
o
f
t
he
p
r
o
p
o
se
d
c
o
n
t
r
oller
for
varia
tio
n
o
f
s
pee
d
a
n
d
p
r
ov
e
th
a
t
t
h
e
s
y
s
t
e
m
ca
n
ba
c
k
t
o
st
ea
dy
s
t
a
t
e
c
on
dit
i
on
f
r
o
m
t
he
l
oa
d
dis
t
ur
b
a
nce
s
.
By
u
s
i
n
g
s
pe
e
d
a
n
d
pos
it
io
n
e
s
tim
ator
o
r
se
ns
o
r
le
ss
spee
d
c
o
n
t
r
o
l,
t
he
s
ize
a
nd
c
o
st
o
f
th
e
d
r
iv
e
sy
st
em
c
an
b
e
d
e
c
r
ea
se
d
an
d
ma
ke
t
h
i
s
o
n
g
o
i
n
g
pr
o
j
e
c
t
s
i
g
n
i
fica
nce
i
n
t
he
a
re
a
of
m
achi
n
e
d
ri
v
e
s
t
udy
.
Th
e
ef
f
ecti
v
en
e
ss
o
f
t
h
e
d
SP
AC
E
D
S
110
3
boa
rd
i
s
a
l
so
g
ai
ne
d
.
T
he
d
S
P
A
C
E
boa
rd
o
ffer
“
user
f
r
i
e
n
dl
y
”
f
ea
tu
re
s
whi
c
h
a
n
y
ch
an
g
e
s
can
b
e
ma
de
a
nd c
o
n
t
r
o
lled
w
i
t
h
o
u
t
a
ny c
h
a
n
ges i
n
pr
ogram
ming.
ACKNOW
LEDG
E
MEN
T
S
The
a
u
t
h
or
w
ou
ld
l
i
k
e
to
a
c
know
l
e
d
g
e
“
C
e
n
t
r
e
of
R
ob
ot
ic
&
I
nd
us
tria
l
A
u
toma
ti
o
n
”
(C
E
R
IA
)
,
“
C
entre
of
R
e
s
e
a
rc
h
a
n
d
I
n
nova
tio
n
Ma
na
ge
me
nt
”
(CRI
M),
U
n
ive
r
si
t
i
Te
kn
ik
al
M
al
ay
si
a
M
e
l
a
k
a
(
UTe
M
)
and
M
i
n
i
st
r
y
o
f
H
i
ghe
r Educ
a
t
i
o
n Ma
lays
ia
(
MO
H
E
)
for
supp
ort
i
ng
thi
s pro
j
e
c
t
.
REFE
RENCES
[1]
F
.
G
en
dus
o,
R
.
M
i
celi,
C
.
Ran
d
o
,
a
nd
G.
R
.
Galluzzo
,
"
B
ack
E
M
F
s
e
ns
orl
e
ss-co
nt
rol
al
go
rithm
f
o
r
h
i
gh
-dyn
amic
p
e
rfor
ma
nc
e
PM
SM,"
I
n
d
u
st
ri
al
E
l
e
c
t
r
o
ni
c
s
,
IE
E
E
T
r
a
n
s
a
ct
i
o
ns
o
n
,
vol.
5
7
,
p
p.
209
2-2
100
,
2
01
0.
[2]
B.
N
ah
i
d
-M
o
b
arakeh
,
F.
M
ei
body-T
a
bar,
a
nd
F
.
-
M
.
S
argo
s,
"
Back
E
M
F
esti
mati
on-b
a
sed
s
e
nsorles
s
c
ontro
l
o
f
P
M
SM:
Ro
bustn
ess
with
r
es
pect
t
o
m
easu
r
emen
t
errors
a
nd
i
nvert
e
r
irregul
a
rit
i
es,"
In
du
stry App
l
i
c
a
t
i
ons,
IEEE
Tran
sac
t
io
ns
on
,
vo
l.
4
3
,
pp.
4
85
-4
94
,
2
007
.
[3]
J
.
S
t
u
m
p
e
r
,
D
.
P
a
u
l
u
s
,
a
n
d
R
.
K
e
n
n
e
l
,
"
A
n
o
n
l
i
n
e
a
r
e
s
t
i
m
a
t
o
r
f
o
r
dy
namical
a
nd
r
o
b
u
s
t
sensorl
e
ss
c
ont
ro
l
o
f
perm
anen
t
m
a
gn
et
s
y
n
chro
no
us
m
ach
ines
,"
i
n
Deci
si
on an
d Con
t
r
o
l
a
n
d
E
u
r
o
p
e
an Con
t
r
o
l
Co
nf
erence (
C
DC-
ECC
)
,
20
11
50
th
IEEE Co
n
f
e
r
e
n
c
e
o
n
,
p
p.
9
2
2
-9
2
7
,
20
11.
[4]
L.
Y
ing
and
N.
E
rtu
g
rul,
"
A
novel
,
r
obu
st
D
SP
-bas
ed
i
n
d
i
r
ec
t
ro
t
o
r
posi
t
ion
esti
mation
f
o
r
permanent
magnet
A
C
mot
o
r
s
w
ithout r
o
t
o
r sa
li
ency,"
Po
wer
El
ectr
onics,
IEEE
T
r
an
sac
t
io
ns
on
,
v
o
l
.
1
8
, p
p.
539
-54
6
,
2003.
[5]
B
.
-
H
.
B
a
e
,
S
.
-
K
.
S
u
l
,
J
.
-
H
.
K
w
o
n
,
a
n
d
J
.
-
S
.
B
y
e
o
n
,
"
I
m
p
l
e
m
e
n
t
a
t
io
n
o
f
s
e
n
sor
l
e
ss
ve
c
t
or
c
o
n
t
ro
l
fo
r
su
pe
r
-
high
-
sp
eed
P
M
S
M
of tu
r
bo
-co
m
pres
so
r,
"
Ind
u
stry
Ap
p
l
ic
at
io
ns,
I
E
E
E
T
r
an
sa
c
tio
ns
o
n
,
vo
l.
3
9
,
p
p
.
8
11
-81
8
,
2
00
3.
[6]
T
.
D
.
B
a
t
z
e
l
a
n
d
K
.
Y
.
L
e
e
,
"
E
l
e
c
t
r
i
c
p
r
o
p
u
l
s
i
o
n
w
i
t
h
t
h
e
s
e
n
s
o
r
l
e
s
s
pe
rma
n
e
n
t
m
a
gn
e
t
s
y
n
c
h
ro
no
us
m
o
t
or:
mo
de
l
and
app
r
oach,
"
E
n
er
gy
Co
nvers
i
o
n
, IEEE
T
r
a
n
s
a
ct
ion
s
on,
vo
l.
2
0
,
p
p
.
8
18
-825
, 2
00
5.
[7]
J.
-S.
Park
,
S
.
-M.
J
u
n
g
,
H.
-W.
Kim
,
a
n
d
M
.
-
J
.
Y
oun,
"
D
e
si
gn
an
d
an
alys
is
o
f
po
siti
on
t
racki
n
g
observer
b
a
sed
o
n
in
st
antan
e
ou
s
pow
e
r
f
o
r
s
en
so
rles
s
dri
v
e
of
p
erm
a
n
e
nt
m
ag
net
sy
nchro
n
o
u
s
moto
r,
"
Po
wer
E
l
ectr
o
n
i
cs
,
IEEE
Tran
sac
t
io
ns
on
,
vo
l.
2
7
,
pp.
2
58
5
-
25
94
,
2
0
1
2
.
[8]
S
.
M
ai
ti,
C.
C
hak
r
abo
r
ty,
and
S.
S
eng
u
p
t
a,
"
S
i
m
u
l
a
ti
on
s
t
udies
on
m
o
del
re
f
e
rence
adapt
i
v
e
c
o
n
tro
l
l
e
r
b
a
sed
sp
eed
est
i
m
a
ti
on
t
echn
i
q
u
e
f
o
r
th
e
v
ecto
r
c
o
n
t
r
oll
e
d
perm
an
ent
m
a
gn
et
s
ynch
r
on
ou
s
m
o
to
r
driv
e
,
"
Simu
lat
i
on Modelling
Pr
actice a
nd
T
h
eor
y
,
vo
l. 1
7
, pp
.
5
85
-5
96
,
2
0
0
9
.
0
10
15
20
25
2pi
2pi
ti
me
(
s
)
r
o
t
o
r p
o
s
it
io
n
e
s
t
.
p
o
s
it
io
n
a
c
t. po
s
i
tio
n
12
12
.
2
12
.4
12
.6
12
.
8
13
-2
pi
2p
i
time
(
s
)
ro
to
r
p
o
s
i
ti
o
n
e
s
t. p
o
s
it
io
n
a
c
t.
po
s
itio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st, Vol. 10,
N
o.
1, Mar
c
h 2
0
1
9
:
12
8 –
13
6
13
6
[9]
N.
E
rt
ugrul
a
n
d
P
.
Acarn
l
ey
,
"A
n
ew
a
l
g
o
r
it
h
m
f
o
r
s
en
so
rless
o
p
erati
o
n
o
f
p
erm
a
nen
t
m
ag
net
m
o
t
o
rs,
"
I
n
dustry
Ap
plicatio
ns,
IEEE
Tran
sa
cti
ons o
n
,
vo
l. 30
,
p
p
.
1
26
-13
3
,
1
99
4.
[10]
M
.
R
ash
e
d,
P
.
F.
M
acConn
ell
,
A
.
F.
S
tro
n
ach
,
and
P
.
A
carn
l
ey,
"
Se
nsor
le
ss
i
n
d
i
re
c
t
-ro
to
r-
fie
l
d
-
orie
nta
tio
n
spe
e
d
con
t
ro
l
o
f
a
p
erm
a
nen
t
-m
agn
e
t
sy
nch
r
ono
us
m
oto
r
w
it
h
st
ato
r
-res
istance
estimation,"
Ind
u
stri
al Elect
ro
n
i
cs
,
IEEE
Tran
sac
t
io
ns
on
,
vo
l.
5
4
,
pp.
1
66
4
-
16
75
,
2
0
0
7
.
[11]
S
.
M
aiti,
C.
C
h
a
krabo
r
ty
,
Y.
H
ori
,
a
nd
M
.
C
.
Ta,
"M
odel
ref
e
ren
ce
adapt
i
v
e
c
ont
rol
l
er-b
a
s
ed
r
o
t
or
r
es
istan
c
e
an
d
sp
eed
e
stim
ati
o
n
t
echni
qu
es
f
o
r
v
ecto
r
c
o
n
t
r
o
lled
in
du
c
t
i
on
mot
or
d
r
i
ve
u
ti
li
z
i
ng
r
eactive
po
wer,"
Indus
t
rial
El
ectro
n
i
cs
, IEEE
T
r
a
n
s
a
c
t
io
n
s
on
,
vol.
5
5
,
p
p.
594
-60
1
,
2
00
8.
[12]
Z.
I
b
r
ahim,
J
.
M
.
Lazi
,
and
M
.
S
ulaim
a
n,
"
Ind
e
p
e
n
d
ent
sp
ee
d
se
n
so
rle
s
s
c
o
n
t
ro
l
o
f
d
ua
l
pa
ra
lle
l
P
M
S
M
ba
se
d
on
Five-Leg
I
nvert
e
r,"
in
Sy
stems
,
Si
gna
l
s and
Devi
c
e
s
(
S
SD),
201
2 9t
h In
t
e
rnat
i
o
nal
M
u
lti-C
o
nf
erence
on
,
p
p
. 1-6
,
20
12
.
[13]
J
.
M
.
L
a
z
i
,
Z
.
I
b
r
a
h
i
m
,
M
.
Y
u
s
o
f
f
,
S
.
N
.
M
.
I
s
a
,
N
.
M
.
Y
a
a
k
o
p
,
and
A.
S
.
A.
H
a
s
im
,
"S
ens
o
rles
s
Speed
C
on
tro
l
o
f
Ind
e
pend
ent
Dual
-P
M
S
M
D
r
iv
e
s
F
ed
b
y
a
Fiv
e
-Leg
I
n
v
ert
e
r,
"
Aus
t
rali
an
Jour
nal of
Ba
si
c and
Ap
pl
ied S
c
ien
ces,
vo
l.
6
,
p
p
.
9
9
-
110,
2
01
2.
[14]
J.
S
o
l
so
na,
M.
I
.
V
a
lla,
an
d
C.
M
urav
chi
k
,
"Non
li
near
c
o
n
t
r
ol
o
f
a
perm
anen
t
mag
n
et
s
ynch
r
on
ou
s
mo
to
r
with
di
st
urban
ce
to
rqu
e
e
st
im
ati
o
n
,
"
En
erg
y
Conver
sion
,
IEEE
T
r
an
sactio
ns on
,
vo
l. 1
5
, pp
. 1
63
-1
68
,
2
0
0
0
.
[15]
L.
S
a
l
vatore
a
nd
S
.
S
t
asi,
"
Appl
icatio
n
of
E
KF
t
o
param
e
t
e
r
an
d
s
ta
t
e
e
st
ima
t
i
o
n
of
P
MSM
dr
ive
,
"
E
l
ectric Po
we
r
Ap
plicatio
ns, IEE
P
r
oceed
in
gs B,
vol.
1
3
9
,
p
p.
1
5
5
-16
4
,
1
99
2.
[16]
D.
J
an
is
zewsk
i,
"
S
e
nso
r
les
s
c
ontrol
o
f
P
erm
a
nen
t
M
ag
net
S
y
nchro
no
us
M
ot
or
b
ased
o
n
Un
scent
e
d
Kalm
an
F
ilter,
"
in
Po
we
r
En
gineeri
n
g
,
En
ergy an
d El
ectrica
l Dr
i
ves
(
P
OW
ERENG),
2
011 In
tern
a
t
io
nal Con
f
er
ence on
,
p
p
. 1-6
,
20
11
.
[17]
M
.
P
rein
d
l
a
nd
E
.
S
c
h
a
lt
z,
"
Sen
s
o
r
less
m
od
el
p
redi
ctiv
e
d
i
re
ct
current
c
ont
r
ol
u
sing
n
ove
l
s
econd-order
P
L
L
ob
serv
e
r
f
or P
MS
M
dri
v
e
s
y
s
t
e
m
s
,
"
Indu
st
ri
al Electr
oni
cs,
IEEE
T
r
ans
actio
ns on
,
vo
l.
58,
p
p
.
4
087-4
095
,
2
01
1.
[18]
F
.
M
.
De
B
elie,
P
.
S
ergeant
,
a
n
d
J
.
A
.
M
elk
e
beek
,
"A
s
ens
o
rless
d
ri
ve
b
y
app
l
ying
t
e
st
p
uls
e
s
without
a
ff
ecting
t
h
e
averag
e-cu
rr
ent
sam
p
l
e
s
,
"
P
o
wer El
ectro
n
i
cs,
IEEE Tra
n
s
a
ction
s
on,
vol.
25,
pp.
8
75
-888
,
2
01
0.
[19]
G.
F
oo
a
nd
M
.
R
ahm
a
n,
"
S
e
ns
orles
s
s
l
i
din
g
-m
ode
M
T
P
A
con
t
rol
of
a
n
I
PM
s
y
n
c
hro
n
o
u
s
m
o
t
o
r
drive
usin
g
a
slidin
g-
mo
de
o
bse
r
v
e
r
a
n
d
HF
s
ig
na
l
in
je
c
t
i
o
n
,
"
In
du
str
i
al E
l
ect
ronics
,
IE
EE
Tr
ansa
c
tions
o
n
,
vo
l.
5
7,
pp
.
1
270
-12
7
8
, 2
010
.
[20]
V
.
P
e
t
r
o
v
i
c
,
A
.
M
.
S
t
a
n
k
o
v
i
c
,
a
n
d
V
.
B
l
a
s
k
o
,
"
P
o
s
i
t
i
o
n
e
s
t
i
m
a
t
i
on
i
n
sa
lie
nt
P
M
syn
c
hro
n
o
u
s
m
otor
s
ba
se
d
on
P
W
M
excita
t
i
on
t
ransients
,
"
In
d
u
st
ry
A
ppli
c
ati
o
n
s
,
IEEE
T
r
a
n
s
a
ct
io
ns on
,
vo
l.
3
9
,
p
p
.
8
35
-843
, 2
00
3.
[21]
R.
R
aute,
C
.
C
ar
uan
a
,
C.
S
.
S
t
ai
n
e
s,
J
.
Cil
i
a,
M
.
S
u
mn
er,
an
d
G
.
M
.
A
s
h
er,
"
A
nalysi
s
and
com
p
ens
a
tio
n
o
f
i
nv
erter
no
nl
inearity
e
ff
ect
o
n a
s
e
n
s
o
r
less
P
M
S
M
dri
v
e at
v
ery
l
o
w
and
z
e
ro speed
o
p
e
r
a
ti
on,
"
Indu
st
r
i
a
l
El
ectr
o
n
i
cs
,
IEEE
Tran
sac
t
io
ns
on
,
vo
l.
5
7
,
pp.
4
06
5
-
40
74
,
2
0
1
0
.
[22]
A.
R
ajasek
har,
R
.
K
.
J
atoth,
A
.
Ab
raham
,
a
nd
V.
S
nasel,
"
A
n
o
v
e
l
hy
bri
d
A
BF
-P
SO
a
l
g
o
r
ithm
b
ased
t
u
n
i
ng
of
o
p
tim
a
l
F
OPI
sp
e
e
d
c
on
trolle
r
for
PMS
M
d
r
i
ve
,"
i
n
Ca
rp
a
t
hi
an Contr
o
l
Co
nfer
ence (
I
CCC)
,
20
11
1
2
t
h
I
n
te
r
n
at
io
na
l
,
pp
. 32
0
-3
25
,
20
11
.
Evaluation Warning : The document was created with Spire.PDF for Python.