To realize permanent magnet synchronous motor (PMSM) in the full speed domain without speed sensor operation, a hybrid control method combining I/F startup and extended Kalman filter (EKF) is proposed in this paper. This method employs I/F startup to transition at low speed, effectively resolving the issue that the position estimation method based on the back electromotive force (EMF) model fails at zero speed and low speed, and converts to EKF for speed closed-loop vector control at medium and high speed. Moreover, a new feedback regulation mechanism as a solution to the problem of smooth switching between the two methods is proposed. First, the power angle is determined based on the relationship between the given I/F frequency and the estimated EKF position angle. Using the information of power angle, the damping torque of the system is increased to reduce velocity fluctuations during I/F startup. In addition, the balance point of current and position error angle is adjusted using the closed-loop information of position error angle to reduce the torque abrupt change before and after switching, thereby making the motor switching process to EKF speed closed-loop control more stable. Finally, simulation results are used to verify the effectiveness of the proposed scheme.
Keywords: I/F startup; extended Kalman filter (EKF); hybrid control; permanent magnet synchronous motor (PMSM); power angle estimation; speed-sensorless control system.