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Research Papers

# A New Initial Rotor Angle Position Estimation Method for High-Speed Brushless Direct Current Motor Using Current Injection and Mathematical Model

[+] Author and Article Information
Zhenyan Wang

School of Electronical and
Information Engineering,
Taiyuan University of Science and Technology,
Taiyuan 030024, Shanxi, China
e-mail: w9851@126.com

Yanzhao He

Beijing Institute of Control Engineering,
Beijing Sunwise Space Technology Ltd.,
Beijing 100190, China
e-mail: he.yanzhao@163.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 13, 2015; final manuscript received November 15, 2017; published online January 19, 2018. Editor: Joseph Beaman.

J. Dyn. Sys., Meas., Control 140(7), 071007 (Jan 19, 2018) (8 pages) Paper No: DS-15-1338; doi: 10.1115/1.4038714 History: Received July 13, 2015; Revised November 15, 2017

## Abstract

In this paper, a new initial rotor angle position estimation method for the sensorless high-speed brushless direct current (DC) motor (HS-BLDCM) is proposed. Two groups of special three-phase conduction current pulse signals are injected into the three phases of the motor, and the mathematical formulation for the initial angle position estimation is illustrated. The initial rotor position is expressed as a function of the line voltage, the phase current derivative, and the average value of d–q frame stator inductance. Particularly, the independent parameters of the initial rotor angle position are eliminated in the mathematical model. The cooperative simulation results based on Maxwell and Simplorer and the experimental results demonstrate that the proposed method is effective with the estimation error less than 0.2 deg electrical in simulation and 5 deg electrical in experiment.

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## Figures

Fig. 1

The HS-BLDCM model in the rotating frame

Fig. 2

The motor model in standstill for estimation only

Fig. 3

Inverter-driven HS-BLDCM

Fig. 4

The current flow direction of the first injection

Fig. 5

The current flow direction of the second injection

Fig. 6

Simulation results of two current injections: (a) case 1: the first (left) and second (right) current injection at the initial angle of θ = 0 deg, (b) case 2: the first (left) and second (right) current injection at the initial angle of θ = 90 deg, and (c) case 3: the first (left) and second (right) current injection at the initial angle of θ = 180 deg

Fig. 7

Sensorless HS-BLDCM drive system: (a) the block diagram of motor drive and (b) the implemented experimental system

Fig. 8

Experimental results of two current injections: (a) case 1: the first (left) and second (right) current injection at the initial angle of θ = 0 deg, (b) case 2: the first (left) and second (right) current injection at the initial angle of θ = 90 deg, and (c) case 3: the first (left) and second (right) current injection at the initial angle of θ = 180 deg

Fig. 9

The actual initial rotor angle positions and the estimated ones

Fig. 10

Simulation results of the start-up performance under different commutation process: (a) motor speed curves, (b) phase current curves, and (c) torque curves

Fig. 11

Experimental results of the start-up phase current under the advanced commutation process and the lagged commutation process: (a) the advanced commutation and the proposed commutation and (b) the lagged commutation and the proposed commutation

Fig. 12

Experimental result of the start-up phase current with 110 °C winding temperature (red dotted line) and with 24 °C winding temperature based on water-cooling unit (blue solid line)

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