PMSM Parameter Estimation Configurator

Generate configuration elements for PMSM parameter estimation

Since R2023a

• 

Libraries:
Motor Control Blockset / Parameter Estimation / PMSM Parameter Estimation

Description

The PMSM Parameter Estimation Configurator block generates the following configuration elements for estimating the parameters of a permanent magnet synchronous motor (PMSM):

• Elements for motor and inverter hardware

• Elements for estimating motor resistance (R_s)

• Elements for estimating motor inductances (L_d and L_q)

• Elements for estimating back EMF constant (K_e), motor inertia (J), and friction constant (B)

The block uses the parameter settings to generate an output bus containing the configuration elements. You can use the configuration elements in these PMSM parameter estimation blocks:

• Rs Estimator

• Ld Estimator

• Lq Estimator

• PMSM Mechanical Parameter Estimator

Examples

Estimate PMSM Parameters Using Parameter Estimation Blocks

Uses the parameter estimation blocks provided by Motor Control Blockset™ to estimate these parameters of a permanent magnet synchronous motor (PMSM) with a quadrature encoder sensor:

• Open Model

Estimate PMSM Parameters Using Parameter Estimation Blocks on Real-Time Systems

Uses the parameter estimation blocks provided by Motor Control Blockset™ to estimate these parameters of a permanent magnet synchronous motor (PMSM):

• Open Model

Ports

Output

Config — Bus signal

bus

The bus signal includes these configuration elements.

Category	Configuration element			Units
Elements for motor and inverter hardware	Number of pole pairs			-
	Rated speed of motor			RPM
	Rated current of motor			A
	Maximum measurable inverter current			A
	Board resistance			ohms
	Current sense gain			A/ADC Count
	Voltage sense gain			V/ADC Count
	Parameter estimation sample time			seconds
Elements for estimating motor inductances (Ld and Lq)	Maximum frequency			Hz
	Minimum frequency			Hz
	Step for frequency sweep			Hz
	Frequency step size for estimation			Hz
	Number of frequencies for estimation			-
Elements for estimating back EMF constant (Ke), motor inertia (J), and friction constant (B)	Back EMF estimation time			seconds
	Back EMF estimation maximum speed limit			RPM
	Specify current controller gains (off/on)			-
	Proportional gain			-
	Integral gain			-
	Iq reference current as a ratio of rated motor current			PU current
	Lower speed limit for inertia estimation			RPM

The configuration elements are analogous to the block parameters. For more information about these elements, see .

Data Types: single

Parameters

Motor and Inverter

Number of pole pairs — Number of motor pole pairs

4 (default) | scalar

Number of pole pairs available in the PMSM.

Rated speed (RPM) — Motor rated speed

4000 (default) | scalar

Rated speed of the PMSM (in RPM).

Rated motor current (A) — Motor rated current

7 (default) | scalar

Rated current of the PMSM (in amperes).

Maximum inverter current (A) — Maximum measurable current

21 (default) | scalar

Maximum current (in amperes) that the system (including inverter and controller) can measure.

Board resistance (ohm) — Inverter bridge resistance

0.0043 (default) | scalar

Resistance (in ohms) in the path of phase currents (excluding motor resistance). You can obtain this value from the datasheet of the inverter hardware.

Current sense gain (A/ADC Count) — Current per ADC count

0.0105 (default) | scalar

Gain of the current sense circuit of the inverter. This value determines the current (in Amperes) corresponding to one analog-to-digital converter (ADC) count (resolution of the measurable current range).

Voltage sense gain (V/ADC Count) — Voltage per ADC count

0.0098 (default) | scalar

Gain of the voltage sense circuit of the inverter. This value determines the voltage (in Volts) corresponding to one analog-to-digital converter (ADC) count (resolution of the measurable voltage range).

Ld and Lq Estimation

Maximum frequency (Hz) — Maximum frequency injected for frequency sweep

1000 (default) | scalar

Maximum frequency (in Hertz) injected by the Ld Estimator and Lq Estimator blocks to begin the frequency sweep. For more details, see Ld Estimator and Lq Estimator.

Minimum frequency (Hz) — Minimum frequency injected for frequency sweep

400 (default) | scalar

Minimum frequency (in Hertz) injected by the Ld Estimator and Lq Estimator blocks to conclude the frequency sweep. For more details, see Ld Estimator and Lq Estimator.

Step for frequency sweep (Hz) — Step size for frequency sweep

100 (default) | scalar

Step size (in Hertz) using which the Ld Estimator and Lq Estimator blocks decrement the frequency during the frequency sweep. For more details, see Ld Estimator and Lq Estimator.

Frequency step size for estimation (Hz) — Frequency step size for L_d and L_q estimation

10 (default) | scalar

Step size (in Hertz) using which the Ld Estimator and Lq Estimator blocks increment the frequency during the L_d and L_q estimation process. For more details, see Ld Estimator and Lq Estimator.

Number of frequencies for estimation — Number of injected frequencies for L_d and L_q estimation

10 (default) | scalar

Number of frequencies (with a step size defined by the Frequency step size for estimation (Hz) parameter) that the Ld Estimator and Lq Estimator blocks inject after the frequency sweep to estimate L_d and L_q parameters. For more details, see Ld Estimator and Lq Estimator.

Current measurement delay (s) — Delay in current measurement

2 * 50e-6 (default) | scalar

Time delay (in seconds) between an instance of current change and the point of time when the changed current is measured in the microcontroller.

Ke, J, B Estimation

Back EMF estimation time (s) — Motor run duration when estimating back-EMF

5 (default) | scalar

Duration (in seconds) for which the PMSM Mechanical Parameter Estimator block runs the motor using closed-loop control to estimate back-EMF, K_e. For more details, see PMSM Mechanical Parameter Estimator.

Back EMF estimation maximum speed limit (RPM) — Motor speed when estimating back-EMF

3500 (default) | scalar

Speed (in RPM) at which the PMSM Mechanical Parameter Estimator block runs the motor using closed-loop control to estimate back-EMF, K_e. For more details, see PMSM Mechanical Parameter Estimator.

Iq reference current as a ratio of rated motor current — Reference current for FOC when estimating K_e, J, and B

0.2 (default) | scalar

Reference current, I_q (in units of the motor rated current), to achieve the reference speed specified in the Back EMF estimation maximum speed limit (RPM) parameter. For more information about the estimation process, see PMSM Mechanical Parameter Estimator.

Specify current controller gains — Specify PI current controller gains

off (default) | on

Select this parameter to enable these fields:

• Proportional gain

• Integral gain

You can use these fields to enter the proportional and integral gains of the PI current controllers that implement closed-loop control to estimate K_e, J, and B.

If you clear this parameter, the block automatically computes the proportional and integral gains.

For more information about the estimation process, see PMSM Mechanical Parameter Estimator.

Proportional gain — Proportional gain of PI controller

1 (default) | scalar

Proportional gain, k_p, of the PI current controller that implements field-oriented control to run the motor in closed-loop control and estimate K_e, J, and B.

Dependencies

To enable this parameter, select the Specify current controller gains parameter.

Integral gain — Integral gain of PI controller

1000 (default) | scalar

Integral gain, k_i, of the PI current controller that implements field-oriented control to run the motor in closed-loop control and estimate K_e, J, and B.

Dependencies

To enable this parameter, select the Specify current controller gains parameter.

Speed lower limit for inertia estimation (RPM) — Lower speed limit during coast-down

1000 (default) | scalar

Lower speed limit (in RPM) during coast-down at which the PMSM Mechanical Parameter Estimation block registers the timestamp for estimating motor inertia. For more information about the estimation process, see PMSM Mechanical Parameter Estimator.

Parameter estimation sample time (s) — Sample time for parameter estimation

50e-6 (default) | scalar

Sample time (in seconds) for the parameter estimation algorithm. This parameter defines the sample time in these parameter estimation blocks for PMSMs:

• PMSM Rs Estimator

• Ld Estimator

• Lq Estimator

• PMSM Mechanical Parameter Estimator

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2023a