永磁同步电机初始磁极位置检测方法

根据永磁同步电机相电感的饱和效应,提出了一种恒压源作用下的相电流响应来获得电机初始磁极位置的检测方法,并针对制动器打开瞬间容易出现因磁极位置不准而造成无法定位的问题,对位能性负载提出了一种基于位置环的快速定位法。该方法根据电机实际转动的角度来反向移动给定电流矢量,实现快速定位。最后通过计算不同幅值电流矢量二次定位转过的角度来获得精确的磁极位置。所提方法能够准确获得电机初始磁极位置,可适用于不同类型的永磁电机。实验证明:该控制方法结构简单,易于数字控制实现,同时具有较强的通用性和鲁棒性。     

Initial rotor position estimation of interior permanent magnet synchronous motor using optimal voltage vector

The initial rotor position estimation is a serious problem affecting sensorless drives of permanent magnet synchronous motors. This paper presents an estimation method of initial rotor position for interior permanent magnet synchronous motors. The principle of the estimation is based on the nonlinear magnetization characteristics of the stator core caused by the magnet of the rotor. The estimation is performed using the variation of the current response caused by the magnetic saturation when the voltage vector is applied to the motor. This method can be performed without motor parameters and any additional hardware. Decision method of the optimal voltage vector applied to the motor is also proposed to accurately implement the estimation. Experimental results show that the initial rotor position can be estimated without rotating the rotor by using the optimal voltage vector. It is found that the average of the estimation error is ±1.34 electrical degrees, and the estimation is completed within 15.2 ms in the test motor. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 156(4): 69–76, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20062     

永磁同步电机转子初始位置的检测方法

针对永磁同步电机初始位置检测已有方法依赖电机参数,电流相位提取算法复杂,并在检测过程中会造成转子发生转动等问题,提出一种基于高频电压信号注入检测电机初始位置的方法.该方法通过对高频电压响应的电流进行解调、滤波和最小二乘拟合处理后,再计算出正弦化响应电流最大值时的相位,便得到获取转子初始位置信息,最后利用磁路饱和凸极效应,判定永磁体的极性.仿真及实验结果表明,该方法能准确检测出转子初始位置,不会使转子发生移动,也不需要知道电机的参数,硬件结构简单.位置检测的平均误差为3.33°,可满足永磁同步电机的平稳启动需求.     

A three‐phase hybrid stepping motor drive system combined with position‐sensorless closed‐loop control

This paper proposes a drive system for a three‐phase hybrid stepping motor, combining sensorless closed‐loop control with conventional open‐loop control. It is characterized by sophisticated control providing both prevention of pulling out from synchronism and suppression of natural rotor oscillation, without any position sensor attached to the motor shaft. A switching technique in chopper control which can enlarge the speed range controllable in the sensorless closed‐loop control is described. Starting and stopping sequences are developed to reduce mechanical natural oscillation produced in the transient state. Finally, the proposed drive system is compared experimentally with a conventional constant‐current open‐loop drive system. It is shown that the proposed drive system can perform the switchover from starting to sensorless closed‐loop operation within 20 ms, and can reduce the natural oscillation caused just after positioning. © 2000 Scripta Technica, Electr Eng Jpn, 131(3): 80–90, 2000     

高频多相数字DC/DC控制器的设计

介绍了应用于低电压、大电流高频多相数字DC/DC控制器的设计.该控制器采用数字PID算法、电压模式控制,具有DVS功能.控制器在现场可编程门阵列(FPGA)上实现,采用Dither数字脉宽调制(DPWM)结构获得1MHz的开关频率.采用该控制器的四相Buck电路输入电压为12V,输出电压由8 bit VID码控制从0～1.6 V可调,每相电流20A.实验结果证实了控制器的性能以及设计方法的正确性.     

Investigation of shielding method of ELF magnetic field generated from conductors

We have studied experimentally the shielding method of ELF magnetic field applied to the source of line conductors. For the single‐phase line current, it appears to be difficult to achieve effective shielding. On the other hand, for the balanced three‐phase conductors, including triangle and twisted configuration, a certain reduction of generated magnetic field was achieved by adjusting the configuration of conductors or by surrounding the conductors with cylindrical shielding materials made of ferromagnetic materials or nonferromagnetic metals. Normalized characteristics between phase current, distance between source current and observation point, distance between phase conductors, and the pitch of twisted cable were derived. In addition, the effect of unbalanced current was also investigated. © 2000 Scripta Technica, Electr Eng Jpn, 131(2): 12–19, 2000     

A novel magnet polarity identification method for initial position estimation for sensorless IPMSM drive

This paper proposes a novel magnet polarity identification method for initial position estimation during startup for interior permanent magnet synchronous machine (IPMSM) drives. The rotor's initial position estimation is based on magnetic saliency and employs high‐frequency (HF) components of the voltage and current that are excited by the multi space‐vector pulse‐width modulation (MSVPWM) pattern. However, there is a common trouble in the estimation methods based on the magnetic saliency: it is necessary to identify the magnet polarity in order to distinguish the north and south poles since the estimated position angle is a periodic function with π radians. In this paper, a novel inductance estimation method is presented and the magnet polarity is uniquely identified by the relationship between the estimated inductance and the magnetic saturation effect. Experimental results confirm the advantages of the proposed method: it is reliable, accurate, and convenient, and can be done in real time. © 2014 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Parallel operation of four‐switch full‐bridge power amplifiers and a unique digital control scheme for advanced magnetic resonance imaging

In recent years, magnetic resonance imaging (MRI) systems have been in demand to diagnose moving parts in the human body such as the heart or the blood in angiography, where images should be taken in milliseconds instead of minutes. Gradient power amplifiers, which are small but vital components for advanced MRI, require higher output power capacity as well as faster rise/fall dynamic response characteristics under a variety of specified current reference signals. This paper presents a novel switch‐mode gradient power amplifier using IGBTs which are connected in parallel to a conventional four‐switch full‐bridge power conversion circuit at their inputs/outputs in order to realize a higher power density. To satisfy the design specifications, which require minimized ripple and improved rise/fall dynamic response characteristics of the current in the gradient coil, a unique digital control scheme based on an optimal type 1 servo system is proposed and described in detail. The effectiveness of the above is discussed and evaluated through computer‐aided analysis. It is expected that the proposed techniques will greatly expand the diagnostic targets and improve the image quality of MRI. © 2000 Scripta Technica, Electr Eng Jpn, 132(1): 64–72, 2000     

一种测定三芯电力电缆内各相芯线位置的方法

为解决三芯电力电缆质量检验过程中内部各相芯线位置难以测定的问题,提出了一种测定三芯电力电缆内各相芯线位置的方法。具体地,通过在三芯电力电缆外表面轴向横截面对称地安装2个磁传感器,在给该电缆内某单相芯线施加电流激励后,用磁传感器测量所在位置处磁感应强度的切向分量;根据2个磁传感器的测得量值,利用安培环路定理以及该单相芯线中心位置与磁传感器位置之间的几何关系,求解该单相芯线中心到三芯电力电缆中心的距离,以及该单相芯线中心和三芯电力电缆中心的连线与y轴之间的夹角,即可求解出该单相芯线的位置;通过给三相芯线分别施加电流激励,便可分别测得三相芯线的位置,从而实现对三芯电力电缆内各相芯线位置的测定。电磁场有限元仿真试验和解析模型计算的结果表明,此方法准确性高,对三芯电力电缆生产工艺水平提高和质量检验具有指导价值。     

Application of a force‐balanced coil to a tokamak device

High field is very favorable for magnetically confined fusion devices such as a tokamak, but electromagnetic force derived from the field becomes a fatal problem. In particular, the largest in‐plane centering force hinders toroidal field coils from operating at higher fields. Variable pitch multihelical coils, which we term force‐balanced coils (FBCs), by which this force is drastically reduced, are proposed for the coil system of tokamaks. FBCs can also provide poloidal flux swing for plasma breakdown and current induction during the ramp‐up phase of the coil current. In this paper, we indicate how to design FBCs for tokamaks. The fusion reactor‐size FBCs are designed and compared with that of the conventional toroidal field coil system. © 1999 Scripta Technica, Electr Eng Jpn, 130(3): 39–48, 2000     

Initial rotor position estimation of a SRM drive installed in an electric vehicle

In this paper an estimation method of the initial rotor position at a stand still condition for switched reluctance motor (SRM) drives is proposed. In the SRM, a rotor shaft is connected to an incremental encoder, thus, only an initial position should be detected to realize smooth start up operation. The proposed method is injecting voltage pulses to all windings and detecting the current and estimating the position based on a simple relation between inductance profile and phase current. With an accurate estimated rotor position, the motor can start smoothly under heavy load. The proposed method is implemented in a 6‐stator‐pole and 4‐rotor‐pole, 1.5 kW switched reluctance motor installed in an electric vehicle. © 2011 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Characteristics of a two‐dimensional integrated magnetic sensor for position sensing and motor control

Two‐dimensional integrated magnetic sensors for position sensing were designed and fabricated with the standard 0.35‐µm CMOS process on silicon. One such type is the n‐type Hall sensor that uses an inversion layer under the gate oxide of the MOSFET. The Hall sensors were arrayed (64 × 64), and the control digital circuits and output amplifier were also integrated into the same chip. ‘One pixel’ was 50 × 50 µm, and the entire chip was 4.9 × 4.9 mm. The sensitivity of one of these sensors was 2.7 mV/(mA·kG). The two‐dimensional magnetic flux distribution was measured from the 5‐mm diameter Nd–Fe–B rare‐earth permanent magnet. About 42 s was required to measure one frame. The position of the magnet could be detected with the fabricated sensors. Magnetic sensors using an inversion layer in MOSFETs are useful for position sensing systems, but their noise characteristics, such as poor sensitivity, should be improved. © 2006 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Sensorless IPMSM position estimation based on multi SVPWM with elimination of inverter nonlinear effects

This paper presents a position‐sensorless interior permanent magnet synchronous motor (IPMSM) control system at low and zero speed based on a multi‐space‐vector pulse‐width modulation (MSVPWM) pattern with the elimination of nonlinear inverter effects. In conventional sensorless methods based on the MSVPWM pattern, the high‐frequency (HF) components of voltage and current are used to estimate the rotor position information. However, the inverter nonlinear effects, such as forward voltage drops and deadtime, distort the HF components of the voltage and current so that an error occurs in the position estimation. Therefore, an improved position estimation scheme is developed in this paper. The compensated HF components of the voltage taking account of the inverter nonlinear effects can be used to decrease the estimation error. The proposed method can be implemented without increasing any hardware cost. Experimental results confirm the effectiveness of the proposed method. © 2014 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Analysis of induced current density in grounded and ungrounded prolate spheroid models in concurrent ELF electric and magnetic fields

Analyzed in this paper is the induced current density in the homogeneous prolate spheroid model of a biological object exposed to concurrent 60‐Hz vertical electrical field (1 kV/m), and horizontal and vertical magnetic fields (1 to 5 μT) with different phase angle. The analysis has been carried out separately considering the presence of electric and magnetic fields. The current density induced by the electric field is calculated using the finite element method, whereas the current density induced by the magnetic fields is calculated with exact solution for the prolate spheriod model. The total induced current density is the vector sum of the current density components induced by the electric and magnetic fields. It is found that the density of the total current is determined by the vertical electric field and horizontal magnetic field. The horizontal magnetic field has an important effect on the total induced current density distribution. The distribution of the density of the total current varies with the phase difference between the vertical electric and horizontal magnetic fields. As the model gets close to the ground, however, the contribution of the horizontal magnetic field to the total induced current density is found to decrease. © 2001 Scripta Technica, Electr Eng Jpn, 135(3): 8–15, 2001     

A new position‐sensorless position control method for high‐speed spindle systems

This paper proposes a new position‐sensorless position control method for high‐speed spindle drive systems. Mechanical vulnerability of position sensors such as an encoder mounted on a spindle motor is becoming a serious problem as required speed increases. For high speeds above 1500 rad/s, sensorless drive is preferred. It is possible for current technologies to control spindle motor in speed control mode without the sensor, but not in position control mode without the sensor. In the example of high‐speed spindle systems of automatic machine tools, implements must be automatically attached to and removed from the spindle at standstill. Automation necessitates position control, for which current technologies require a sensor. The proposed method makes it possible to realize pure sensorless high‐speed spindle systems performing in both speed and a position control modes. The method can attain a position control performance with quick settling from speed control and a repetitive positioning precision of 0.006 rad, 0.4°, which is comparable to that achieved by current sensor‐based methods. © 2002 Wiley Periodicals, Inc. Electr Eng Jpn, 141(3): 58–69, 2002; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10059     

New initial position detection technique for three-phase brushless DC motor without position and current sensors

This paper presents a new detection technique of initial position for a three-phase brushless DC motor which does not require any current and position sensors, and thereby significantly reduces the cost. The fundamental principle of the technique is to determine the initial position of the permanent magnet by the time periods of discharge of stator windings, which are excited before discharge. As compared to previous approaches, the presented technique does not cause any rotation during detection, and it is therefore very promising for particular kinds of applications, which do not allow the motor to rotate potentially in the wrong direction during initial position detection, e.g., electrical vehicles. As compared to earlier techniques, the presented technique dramatically simplifies the detection procedures and cost. Experimental results derived from a field-programmable gate-array-based control system are presented to demonstrate the feasibility of the presented technique.     

A fully differential current copier for performance improvement

This paper presents a new current copier which uses a differential‐pair as its storage cell. The differential‐pair storage unit (DPSU) significantly reduces clock‐feedthrough errors and achieves high linearity, large dynamic range, and less cross‐talk noise. Therefore, the proposed high‐performance DPSU can be used to improve the speed performance of analog‐to‐digital converters which implement the proposed fully differential switched‐current technique. Copyright © 2000 John Wiley & Sons, Ltd.     

A new method for estimating initial rotor phase of self‐excited hybrid‐field synchronous motors

This paper proposes a new method for properly estimating the rotor initial phase (i.e., the position) of the newly emerging self‐excited hybrid‐field synchronous motors (SelE‐HFSMs), which have the rotor held by both a permanent magnet and a diode‐shorted held winding. The proposed method injects a spatially rotating high‐frequency voltage and detects the rotor phase directly by evaluating the norm of the associated current. The method is very simple, but has a high degree of usability. 2010 Wiley Periodicals, Inc. Electr Eng Jpn, 173(3): 49–58, 2010; Published online in Wiley InterScience ( www.interscience. wiley.com ). DOI 10.1002/eej.21027     

Development of a large‐current high‐precision pulse power supply

JAEA and KEK are jointly constructing a high‐intensity proton accelerator project J‐PARC. Its main accelerator is a 3‐GeV synchrotron. Its injection bump magnets, especially horizontal paint bump magnets, are excited by large pulse currents. Their rated currents are over 10 kA and pulse widths are about 1 ms. Tracking errors are required to be less than 1%. Multiple connected two‐quadrant IGBT choppers are adopted for their power supplies. Their output currents are controlled by feedback control with minor loop voltage control (m‐AVR). When output current of a chopper intermits at small current, its output voltage rises and current control becomes difficult. In this paper, response of m‐AVR and output voltage characteristics at current intermittent region are studied and an improved control scheme is proposed. The performance is confirmed by a test. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 166(3): 62– 72, 2009; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20783     

基于FPGA的自动相机聚焦电机伺服控制系统集成电路(IC)设计与实现

采用现场可编程门阵列(FPGA)实现了自动相机聚焦(AF)镜头模块位置控制电机伺服控制系统集成电路(IC)的全数字控制设计。镜头模块位置控制驱动电机由具有数字伺服驱动的音圈电机(VCM)担任,数字伺服驱动包括数字伺服控制器、数字电流控制器和全桥DC-DC转换器,系统能为高性能、轻质量和超薄型的移动式自动相机的AF镜头模块位置控制提供完整的数字控制方案,使相机的AF镜头模块控制范围在30 ms内可以达到0.6 mm,控制分辨率小于5μm,驱动力峰值为30 mN,输出电流峰值为120 mA。