[ ] [ ]
[ ] [ ] [ ( ) ]
Current Reference Generator (torque to current, flux-weakening) 3-phase inverter D A D A + -Digital controller -+ + axes decoupling modulationPWM PMSM ∗ ∗ 𝑑∗ 𝑞∗ 𝑑 𝑒𝑔 𝑞 𝑒𝑔 𝑚∗ 𝑒∗ 𝑒𝑔 𝑑 ∗ 𝑞∗ 𝑑 𝑞 𝑎 𝑏 𝐷𝐶 ∗ ∗ 𝑙𝑖𝑚
position & speed estimation
1/ 𝑚𝑒
𝑚
𝑟 𝑚
̃
𝑟 𝑚
𝑡 𝑚
𝑑𝑒𝑔
𝑟 𝑚
𝑟 𝑚
𝑑 𝑟 𝑚)
𝑟 𝑚
𝑑
𝑟 𝑚
Position & Speed Luenberger observer Error signal Position error feedback Est. rotor frame HF injection IPMSM BPF / HPF Estimator Est. rotor frame processing 𝜃 𝑚𝑒 𝑚𝑒 𝜃 𝑚𝑒 𝑖𝑏 𝑖𝑎
LPF MTPA Current Reference Generator dq ab Space Vector PWM MOSFET 3-Phase Inverter
Speed & position estimation High-Frequency Flux Injection HPFHPF D A D A compensation iib D A D A i ib IPMSM
TMS320F2811 Digital Signal Controller
a b c
𝑖 𝑖
√ ( 𝜃 )
⁄ ⁄
⁄ ⁄
⁄
⁄ ⁄ ⁄
√ ( 𝜃 )
𝑞
𝑎𝑚 𝑙𝑒 𝑎𝑚 𝑙𝑒 𝜃 𝐶 𝐷 𝑎𝑚 𝑙𝑒 𝑎𝑚 𝑙𝑒 𝐶 𝐷 [ ( )( )] [ 𝐶 𝐶 𝐷 𝐷] [𝑖𝑖 ] ( ) [ ( )( )] [ 𝐶 𝐶 𝐷 𝐷] [ 𝑖 𝑖 ] ( ) 𝜃 1 V V2 V2 V1 0 V V7 V0 t t t PWM T 1
sample sample2 sample3 sample4
𝑟 𝑚
𝐶 𝐷
𝐷
𝜃
̅ ̅ ̅
̅
𝑡
𝑟 𝑚
𝑡
-+
𝑑𝑞
𝑑
𝑑𝑞
∗ ∗
√ ⁄ ⁄
∗
√
√
𝑑
[ ], [ ], [ ]
[ 𝑖 ( )𝑖 𝑖 ]
⁄
