SENSORLESS FIELD ORIENTED CONTROL OF BRUSHLESS ...

Figure 5.33 – Top-level model of rotor-oriented FOC (with decoupling)...................................236
Figure 5.34 – Compensated or approximate model of BPMS motor in synchronous frame. ......237
Figure 6.1 – General sensorless FOC structure............................................................................240
Figure 6.2 – Rotor position estimation via rotor-stator flux linkage estimation..........................241
Figure 6.3 – State-space representation of linear system.............................................................243
Figure 6.4 – Output feedback controller. .....................................................................................244
Figure 6.5 – Full state feedback controller. .................................................................................244
Figure 6.6 – Full state feedback (open-loop estimator). ..............................................................245
Figure 6.7 – Full state feedback (Luenberger observer). .............................................................246
Figure 6.8 – BPMS motor model in stationary frame..................................................................247
Figure 6.9 – FOC block diagram. ................................................................................................249
Figure 6.10 – State-space model of motor and inverter...............................................................249
Figure 6.11 – Sensorless FOC using observer. ............................................................................250
Figure A.1 – Stator, rotor, and total flux linkage.........................................................................269
Figure B.1 – Magnetizing and leakage paths of stator flux. ........................................................272
Figure B.2 – Relationship of inductances for phase-A. ...............................................................276
Figure B.3 – One-half of the flux paths linking phase-A.............................................................277
Figure C.1 – Fundamental relationships in a motor.....................................................................281
Figure C.2 – Concentrated full-pitch (CFP) winding. .................................................................282
Figure C.3 – Sinusoidal winding density.....................................................................................283
Figure C.4 – Stepped approximation. ..........................................................................................284
Figure C.5 – Full-pitch windings: (a) concentrated; (b) distributed. ...........................................285
Figure C.6 –Short-pitched windings: (a) concentrated; (b) distributed. ......................................286
Figure C.7 – Concentric winding of Figure C.6-b: (a) phase-A only; (b) all phases...................286
Figure C.8 – Ampèrian loop; modified from [42, p.172]. ...........................................................288
Figure C.9 – MMF of CFP winding.............................................................................................289
Figure C.10 – MMF of (a) distributed full-pitch winding; (b) distributed short-pitched winding.
.............................................................................................................................................289
Figure C.11 – Summary of MMF Fourier series amplitudes.......................................................292
Figure C.12 – Full-pitch coil axis at θc and sinusoidal rotor at position θr. ................................293
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