Abstract-This paper addresses self-sensing ("sensorless") control of salient-pole permanent magnet synchronous motors (PMSM's). The major contribution of this work is the introduction of a simple-to-implement estimation technique that operates over a wide speed range, including zero speed. The technique achieves simplicity by decoupling the inherent cross-coupling in PMSM's. The technique utilizes the dependence of inductance on rotor position in interior permanent magnet machines to produce position and velocity estimates both for field orientation and for all motion control of the drives. The technique functions in a manner similar to a resolver and resolver-to-digital converter (RTDC) sensing system, whereby in the proposed technique the motor acts as the electromagnetic resolver and the power converter applies carrier-frequency voltages to the stator which produce high-frequency currents that vary with position. The sensed currents are then processed with a heterodyning technique that produces a signal that is approximately proportional to the difference between the actual rotor position and an estimated rotor position. This position error signal and a torque estimate are then used as inputs to a Luenberger style observer to produce parameter insensitive, zero lag, position and velocity estimates.Index Terms-Permanent magnet motor control, self sensing, sensorless control, sensorless tranducerless field orientation, sensorless vector control, transducerless control. NOMENCLATURE SuperscriptŝEstimated quantities. Commanded quantities. Stator reference frame. Rotor reference frame. Estimated rotor reference frame.

Abstract-This paper presents a viable transducerless rotor position and velocity estimation scheme for PWM inverter driven induction, synchronous, and reluctance machines with the capability of providing robust and accurate dynamic estimation independent of operating point, including zero and very high speeds, light and heavy loading. The injection of a balanced three-phase high frequency signal (500 to 2 kHz) generated by the inverter, followed by appropriate signal demodulation and processing combined with a closed-loop observer, enable the tracking of rotor magnetic saliencies from the machine terminals. Although rotor magnetic saliency is inherent within reluctance machines, and most synchronous machines, saliency in the induction machine is introduced via a modulation of the rotor slot leakage with minimal detrimental effects on the machine performance. ExDerimental verification for the induction machine is NOMENCLATURE Denotes estimated and commanded quantities, respectively.

Abstract-This paper presents a viable transducerless rotor position and velocity estimation scheme for PWM inverter driven induction, synchronous, and reluctance machines with the capability of providing robust and accurate dynamic estimation independent of operating point, including zero and very high speeds, light and heavy loading. The injection of a balanced three-phase high frequency signal (500 to 2 kHz) generated by the inverter, followed by appropriate signal demodulation and processing combined with a closed-loop observer, enable the tracking of rotor magnetic saliencies from the machine terminals. Although rotor magnetic saliency is inherent within reluctance machines, and most synchronous machines, saliency in the induction machine is introduced via a modulation of the rotor slot leakage with minimal detrimental effects on the machine performance. ExDerimental verification for the induction machine is NOMENCLATURE Denotes estimated and commanded quantities, respectively.

Abstract-The analysis and design of current regulators for multiphase ac loads is presented using complex vector notation. The use of complex vector notation provides a way of comparing the performance of controller topologies through their complex vector root locus and complex vector frequency-response functions. Limitations in the performance of the synchronous frame proportional plus integral current regulator are outlined and several ways of improving its performance are suggested and investigated.Index Terms-Complex vector controls analysis, complex vector frequency response, complex vector root locus, current regulators, synchronous frame regulators.

Abstract-This paper presents an improved method of estimating flux angle, rotor position, and velocity by tracking the position of spatial saliencies in an ac machine. Specifically, a machine model is presented which accurately models the behavior of ac machines with multiple spatial harmonic saliencies. The effects of multiple spatial harmonic saliencies on the estimation of flux angle, position, and velocity is analyzed, and methods are presented utilizing multiple spatial harmonic saliencies to provide wide bandwidth, high accuracy estimates of flux angle, rotor position, and velocity.