Robustness Improvement of Model-Based Sensorless SPMSM Drivers Based on an Adaptive Extended State Observer and an Enhanced Quadrature PLL

Conventional model-based sensorless surface-mounted permanent magnet synchronous motor (SPMSM) drivers suffer deteriorated performance in transient-state operation such as accelerating during wide-speed range or encountering large load torque disturbance. In this article, an effective sensorless control solution is proposed to improve the robustness of sensorless SPMSM drivers in transient-state operation. Two extended state observers (ESOs) are utilized to estimate the αβ-axis back electromotive forces (EMFs). An adaptive bandwidth tuning scheme is proposed to online tune the parameters of the ESOs, with which the desired estimation performance of back EMFs can be achieved in wide-speed operation range. Additionally, the dynamic mechanical behavior of the sensorless control system during large load torque transient is investigated by using small-signal analysis, and then a corresponding speed estimation compensation scheme for the conventional quadrature phase-locked loop (QPLL) is developed, with which the capability of QPLL in tracking the rapidly changing speed can be significantly enhanced. Experiments on an SPMSM demonstrate the superior robustness of the proposed method to that of the conventional method in transient-state operation.