COMBINED REAL-TIME MODEL OF PMSM WITH OFF-LINE IDENTIFIED PARAMETERS

摘要

The paper deals with combined real-time model of PM synchronous motor for sensorless position control in the field of robotic systems. Real-parametric- and real-time model could be ideal tools for both control and simulation of the PMSM position drive. Unfortunately that idealized model doesn't exist so far. Such a model has to face following serious problems: it must be excited and synchronized by real input including non-linearities of power supply converter (switch voltage drops, dead-times,..); it should also provide on-line identification of the motor parameters including load changes. Combine real-time model proposed in the paper fulfills most of those requirements: it is supplied by real data from the motor stator voltages, so it is exactly synchronized with real system, and it works with off-line identified motor parameters.