Sensorless Control of PMSM for the Whole Speed Range Using Two-Degree-of-Freedom Current Control and HF Test Current Injection for Low-Speed Range

In this paper, an innovative sensorless two-degree-of-freedom current control scheme for the whole speed range is proposed. It consists of a model-based dynamic feedforward control to set the reference response and model reference tracking controllers providing disturbance rejection and the position error signals needed for sensorless control. For low- and zero-speed operation, alternating test current injection is used to gain a position error signal. A flatness-based test signal precontrol provides compensation for secondary saliencies like cross-saturation and higher harmonics. For mid- and high-speed operation, it is shown how the model-based dynamic feedforward control can be modified to obtain a high-quality position error signal from the tracking controller. No additional model-based estimator evaluating back-EMF information is needed. The effectiveness of the proposed method is proven by experimental results.