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High Precision Sensorless Control of Rotor Mechanical Position Based on Cross Correction of Dual Air Gap Information 基于双气隙信息交叉校正的转子机械位置高精度无传感器控制
Pub Date : 2025-12-01 DOI: 10.30941/CESTEMS.2025.00032
Yukun Lin;Ronggang Ni;Shengming Yang;Qingwen Deng
Position sensors are indispensable in robotic joint servo systems for acquiring mechanical positions, yet their installation inevitably occupies an axial space and increases system complexity, limiting their applicability in compact robot design where spatial constraints and integration efficiency are critical. Sensorless control reduces mechanical and circuit complexity through hardware simplification, but inherently estimates only the electrical instead of mechanical rotor position information, thus remaining constrained in robot joint control applications. Based on the previously proposed dual-gap dual-pole composite machine (DDCM), this paper systematically analyzes the causes of mechanical position estimation errors and proposes a correction method that utilizes a correction coefficient to reduce these errors and enhance estimation accuracy. Furthermore, this paper derives the applicability constraints of the proposed scheme, demonstrating that its requirements for electrical angle position errors are not stringent, thus enabling wide applicability in conventional sensorless control scenarios. The effectiveness of the proposed method is verified by conducting experiments on a 0.75 kW prototype.
位置传感器是机器人关节伺服系统中获取机械位置必不可少的器件,但其安装不可避免地占用轴向空间,增加了系统的复杂性,限制了其在空间约束和集成效率要求较高的紧凑型机器人设计中的适用性。无传感器控制通过硬件简化降低了机械和电路的复杂性,但固有地只估计电气而不是机械转子的位置信息,因此在机器人关节控制应用中仍然受到限制。本文在前人提出的双间隙双极复合机床(DDCM)的基础上,系统分析了机械位置估计误差产生的原因,提出了一种利用修正系数减小误差、提高估计精度的修正方法。此外,本文推导了该方案的适用性约束,表明其对电角度位置误差的要求并不严格,因此在传统的无传感器控制场景中具有广泛的适用性。在0.75 kW样机上进行了实验,验证了该方法的有效性。
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引用次数: 0
High Frequency Position Offset Injection Based PMSM Winding and Magnet Temperature Decoupled Estimation with Wide Speed Range 基于高频位置偏移注入的永磁同步电机绕组和磁体温度宽速度范围解耦估计
Pub Date : 2025-12-01 DOI: 10.30941/CESTEMS.2025.00035
Chengtao Shi;Yuting Lu;Kaide Huang;Chunyan Lai;Beichen Ding;Guodong Feng
In permanent magnet synchronous machine (PMSM) drives, temperature information is critical to achieve reliable and high-performance control. The popular model-based estimation methods are based on extracting temperature dependent terms from the voltages using the machine model. The estimation accuracy under low speed or load can be greatly affected by the model uncertainty and noise due to low signal-to-noise ratio. This paper presents a high frequency (HF) position offset injection-based winding and permanent magnet (PM) temperature decoupled estimation approach for PMSMs to achieve accurate and robust temperature estimation among a wide speed range especially under low-speed conditions. In the proposed approach, a small HF position offset is injected into the machine to construct a decoupled winding and PM temperature estimation model, in which the winding and PM temperatures are independently estimated from HF excitations. The temperature estimation is independent from the fundamental model and parameter variation, and it achieves high signal-to-noise ratio under low-speed conditions. Moreover, the temperature estimation is also not affected by magnetic saturation and inverter distortion, which can improve the accuracy and robustness of temperature estimation. The proposed approach is validated with experiments and comparisons on a laboratory machine under various operating conditions.
在永磁同步电机(PMSM)驱动中,温度信息是实现可靠和高性能控制的关键。常用的基于模型的估计方法是利用机器模型从电压中提取温度相关项。由于低信噪比,模型的不确定性和噪声对低速或负载下的估计精度影响较大。本文提出了一种基于高频位置偏移注入的永磁同步电机绕组和永磁温度解耦估计方法,以实现宽速度范围内特别是低速条件下精确和鲁棒的温度估计。在该方法中,在电机中注入一个小的高频位置偏移,构建了一个解耦的绕组和PM温度估计模型,该模型中绕组和PM温度独立于高频激励估计。温度估计不依赖于基本模型和参数变化,在低速条件下实现了高信噪比。此外,温度估计也不受磁饱和和逆变器畸变的影响,提高了温度估计的准确性和鲁棒性。通过实验和对比,验证了该方法在不同操作条件下的有效性。
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引用次数: 0
Online Simultaneous Identification of Multi-Parameters for Interior PMSMs Under Sensorless Control 无传感器控制下内部永磁同步电机多参数在线同时辨识
Pub Date : 2025-12-01 DOI: 10.30941/CESTEMS.2025.00029
Peng Wang;Z. Q. Zhu;N. M. A. Freire;Ziad Azar;Ximeng Wu;Dawei Liang
Under sensorless control, the position estimation error in interior permanent magnet (PM) synchronous machines will lead to parameter identification errors and a rank-deficiency issue. This paper proposes a parameter identification model that is independent of position error by combining the dq-axis voltage equations. Then, a novel dual signal alternate injection method is proposed to address the rank-deficiency issue, i.e., during one injection period, a zero, positive, and negative d-axis current injection together with a rotor position offset injection, to simultaneously identify the multi-parameters, including stator resistance, dq-axis inductances, and PM flux linkage. The proposed method is verified by experiments at different dq-axis current conditions.
在无传感器控制下,内部永磁同步电机的位置估计误差将导致参数辨识误差和秩不足问题。结合dq轴电压方程,提出了一种不受位置误差影响的参数辨识模型。然后,提出了一种新的双信号交替注入方法,解决了等级缺陷问题,即在一个注入周期内,分别注入零、正、负d轴电流和转子位置偏移注入,同时识别定子电阻、dq轴电感和永磁磁链等多参数。通过不同dq轴电流条件下的实验验证了该方法的正确性。
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引用次数: 0
Three-Dimensional Thermal Network Modeling and Temperature Rise Prediction of Nanocrystalline High-Frequency Transformer 纳米晶高频变压器三维热网络建模及温升预测
Pub Date : 2025-12-01 DOI: 10.30941/CESTEMS.2025.00038
Baolu Wei;Wenliang Zhao;Haibo Ding;Haisen Zhao
The internal hotspot temperature rise prediction in nanocrystalline high-frequency transformers (nanoHFTs) is essential to ensure reliable operation. This paper presents a three-dimensional thermal network (3DTN) model for epoxy resin encapsulated nanoHFTs, which aims to precisely predict the temperature distribution inside the transformer in combination with the finite element method (FEM). A magnetothermal bidirectional coupling 3DTN model is established by analyzing the thermal conduction between the core, windings, and epoxy resin, while also considering the convection and radiation heat transfer mechanisms on the surface of the epoxy resin. The model considers the impact of loss distribution in the core and windings on the temperature field and adopts a simplified 1/2 thermal network model to reduce computational complexity. Furthermore, the results of FEM are compared with experimental results to verify the accuracy of the 3DTN model in predicting the temperature rise of nanoHFT. The results show that the 3DTN model reduces errors by an average of 5.25% over the traditional two-dimensional thermal network (2DTN) model, particularly for temperature distributions in the windings and core. This paper provides a temperature rise prediction method for the thermal design and offers a theoretical basis and engineering guidance for the optimization of their thermal management systems.
纳米晶高频变压器内部热点温升预测是保证其可靠运行的关键。本文建立了环氧树脂封装纳米高频变压器的三维热网络(3DTN)模型,旨在结合有限元法(FEM)精确预测变压器内部的温度分布。通过分析磁芯、绕组和环氧树脂之间的热传导,同时考虑环氧树脂表面的对流和辐射传热机理,建立了磁热双向耦合3DTN模型。该模型考虑了铁芯和绕组损耗分布对温度场的影响,采用简化的1/2热网络模型以降低计算复杂度。将有限元计算结果与实验结果进行了对比,验证了3DTN模型预测纳米高频高频材料温升的准确性。结果表明,与传统的二维热网络(2DTN)模型相比,3DTN模型的误差平均降低了5.25%,特别是在绕组和铁芯的温度分布方面。本文为热设计提供了一种温升预测方法,为其热管理系统的优化提供了理论依据和工程指导。
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引用次数: 0
Three-Random SVPWM Strategy Based on Markov Chain for NPC Three-Level Inverter 基于马尔可夫链的NPC三电平逆变器三随机SVPWM策略
Pub Date : 2025-12-01 DOI: 10.30941/CESTEMS.2025.00031
Xuefeng Jin;Kunyang Wu;Xin Gu;Guozheng Zhang;Huimin Wang;Wei Chen
Permanent magnet synchronous motors (PMSMs), owing to the features of low maintenance costs, great efficiency, and high power density, are extensively utilized in applications such as rail transportation, industrial robots, and new energy electric vehicles. However, the application of space vector pulse width modulation (SVPWM) results in the motor phase current exhibiting clustered harmonic distributions at the integer multiples of the switching frequency, leading to motor noise and vibration issues. To address the issues, this paper proposes a three-random SVPWM (TRPWM) strategy based on a three-state Markov chain, integrating random pulse position, random switching frequency, and random small vector dwell time. By adhering to the principle of voltage-second balance, this strategy spreads the concentrated high-frequency harmonics over a wider frequency range, significantly reducing the magnitude of the concentrated harmonics in the phase current. Comparative experiments with conventional SVPWM, conventional dual-random SVPWM, and conventional three-random SVPWM strategies demonstrate that the proposed approach achieves the expansion of harmonics at integer multiples of the switching frequency in the phase current, effectively suppressing high-frequency vibrations in PMSMs.
永磁同步电机以其维护成本低、效率高、功率密度高等特点,在轨道交通、工业机器人、新能源电动汽车等领域得到了广泛的应用。然而,空间矢量脉宽调制(SVPWM)的应用导致电机相电流在开关频率的整数倍处呈现聚类谐波分布,从而导致电机噪声和振动问题。为了解决这些问题,本文提出了一种基于三态马尔可夫链的三随机SVPWM (TRPWM)策略,该策略集成了随机脉冲位置、随机开关频率和随机小矢量停留时间。该策略通过坚持电压-秒平衡原理,将集中的高频谐波扩散到更宽的频率范围内,显著降低了相电流中集中谐波的幅度。与常规SVPWM、常规双随机SVPWM和常规三随机SVPWM策略的对比实验表明,该方法在相电流中实现了开关频率整数倍的谐波展开,有效抑制了永磁同步电机的高频振动。
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引用次数: 0
Low Vibration Design and Investigation of an Interior Permanent Magnet Motor in the Perspective of the Saliency Ratio 基于显著比的内置式永磁电机低振动设计与研究
Pub Date : 2025-12-01 DOI: 10.30941/CESTEMS.2025.00040
Hui Qu;Li Quan;Xiaoyong Zhu;Zixuan Xiang;Teng Liu;Jiamin Bai
To address the issue of increased electromagnetic vibration in permanent magnet (PM) motors for electric vehicles under flux-weakening speed extension operation, this paper proposes a low-vibration design method for PM motors from the perspective of saliency ratio. First, by establishing a theoretical model for vibration analysis under flux-weakening operation, it reveals the vibration mechanism whereby high-order armature magnetomotive force (ARM-MMF) harmonics under flux-weakening operation leads to enhanced radial electromagnetic force (REF). Second, an in-depth investigation into the intrinsic relationship between saliency ratio and ARM-MMF is conducted. This study proposes a novel methodology to design key ARM-MMF harmonics that induce significant electromagnetic vibration from the perspective of the saliency ratio. An innovative rotor topology featuring elliptical-arc composite flux barriers is developed to implement this approach. Furthermore, and synergistic optimization is performed with the saliency ratio and torque as optimization objectives to balance vibration suppression and torque output performance. Finally, a prototype is manufactured and tested. Both theoretical and experimental analyses validated the effectiveness of the motor and the proposed design method.
针对电动汽车永磁电机在弱磁变速工况下电磁振动增大的问题,从显着比的角度提出了永磁电机的低振动设计方法。首先,通过建立弱磁工况下的振动分析理论模型,揭示了弱磁工况下高阶电枢磁动势(ARM-MMF)谐波导致径向电磁力(REF)增强的振动机理。其次,深入研究了显著性比率与ARM-MMF之间的内在关系。本研究提出了一种从显着比角度设计诱发显著电磁振动的ARM-MMF关键谐波的新方法。为了实现这一方法,开发了一种具有椭圆-圆弧复合磁通屏障的转子拓扑结构。并以显著性比和扭矩为优化目标进行协同优化,平衡振动抑制性能和扭矩输出性能。最后,制作了样机并进行了测试。理论分析和实验分析验证了电机的有效性和所提出的设计方法。
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引用次数: 0
A Review of Research Methods for Stator Temperature Monitoring in PMSM 永磁同步电机定子温度监测研究方法综述
Pub Date : 2025-12-01 DOI: 10.30941/CESTEMS.2025.00037
Songze Zhao;Puqi Ning;Tao Fan;Xiaoshuang Hui;Qibiao Shi
High-density permanent magnet synchronous motors (PMSMs) are widely used in electric drive systems. However, they are susceptible to temperature influences under complex operating conditions, and prolonged operation at high temperatures can first damage the stator winding insulation, which in turn will damage the windings themselves and cause faults. Therefore, stator temperature monitoring is of crucial importance. This paper summarizes the existing temperature monitoring technologies for stator windings of permanent magnet motors, compares the advantages and disadvantages of various methods to help researchers understand this technology, and analyzes its opportunities and challenges, followed by an outlook.
高密度永磁同步电动机在电力传动系统中有着广泛的应用。然而,在复杂的运行条件下,它们容易受到温度的影响,在高温下长时间运行,首先会损坏定子绕组的绝缘,进而损坏绕组本身,导致故障。因此,定子温度监测是至关重要的。本文总结了现有的永磁电机定子绕组温度监测技术,比较了各种方法的优缺点,帮助研究人员了解该技术,分析了该技术的机遇和挑战,并对其进行了展望。
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引用次数: 0
Overview of High Power Density Machines 高功率密度机器概述
Pub Date : 2025-12-01 DOI: 10.30941/CESTEMS.2025.00030
Shaofeng Jia;Yuchen Xu;Jun Lin;Deliang Liang;Ronghai Qu;Jinjun Liu
With the continued advancement of deep electrification across various industries, the demand for higher power density in electric machines is steadily increasing. However, realizing high power density remains a significant technical challenge and has become a major bottleneck in machine development. The design of such machines is inherently constrained by the strong coupling among electromagnetic (EM), thermal, and mechanical domains, while systematic analyses of these challenges remain insufficient. This paper clarifies the interdependent relationships among these domains during the machine design process. It reviews key enabling strategies, including machine design based on advanced electromagnetic theory, innovative thermal management techniques, cutting-edge material advancements, and state-of-the-art manufacturing technologies, that collectively enhance the performance and feasibility of high power density machines (HPDMs). The insights provided aim to support the development of next-generation machine systems with higher power density, compact size, and robust, sustainable performance across a wide range of industrial and technological applications.
随着各行各业深度电气化的不断推进,对电机更高功率密度的需求正在稳步增长。然而,实现高功率密度仍然是一个重大的技术挑战,并已成为机器发展的主要瓶颈。这种机器的设计受到电磁(EM),热和机械领域之间强耦合的固有限制,而对这些挑战的系统分析仍然不足。阐明了在机械设计过程中这些领域之间的相互依存关系。它回顾了关键的使能策略,包括基于先进电磁理论的机器设计、创新的热管理技术、尖端材料的进步和最先进的制造技术,这些都提高了高功率密度机器(HPDMs)的性能和可行性。提供的见解旨在支持下一代机器系统的开发,这些系统具有更高的功率密度,紧凑的尺寸,以及在广泛的工业和技术应用中强大的可持续性能。
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引用次数: 0
Capacitorless Three-Phase Solid-State Power Filter (SSPF) for DC-AC Inverter Applications 用于直流-交流逆变器的无电容三相固态电源滤波器(SSPF)
Pub Date : 2025-12-01 DOI: 10.30941/CESTEMS.2025.00034
Haitham Kanakri;Euzeli Cipriano Dos Santos;Maher Rizkalla
Reliability is a persistent challenge in power electronics, with component failures significantly compromising system performance. Capacitors, widely used in power converters for filtering, contribute to approximately 30% of failures, predominantly due to electrochemical corrosion leading to capacitance degradation and catastrophic breakdowns. This paper presents a novel capacitor-free solid-state power filter (SSPF) for three-phase inverters, offering a transformative approach to mitigate reliability issues associated with conventional inductor-capacitor (LC) and active output filters (AOFs). Unlike AOFs, which depend on compact LC structures, the SSPF eliminates capacitors entirely, circumventing their inherent failure modes. Leveraging advanced solid-state devices and transformer technology, the SSPF achieves superior filtering performance, enhances system reliability, and significantly reduces component count, utilizing half the metal-oxide-semiconductor field effect transistor (MOSFET) switches required by AOFs. This design not only lowers costs but also improves efficiency. Simulation and experimental results demonstrate the SSPF's capability to deliver a sinusoidal output voltage at the fundamental frequency. These attributes position the SSPF as a robust, cost-effective, and innovative solution for modern power electronics applications.
可靠性是电力电子领域的一个持续挑战,组件故障会严重影响系统性能。电容器广泛用于电源变换器的滤波,约占故障的30%,主要是由于电化学腐蚀导致电容退化和灾难性击穿。本文提出了一种用于三相逆变器的新型无电容固态电源滤波器(SSPF),提供了一种变革性的方法来缓解与传统电感-电容(LC)和有源输出滤波器(AOFs)相关的可靠性问题。与依赖于紧凑LC结构的AOFs不同,SSPF完全消除了电容器,避免了其固有的失效模式。利用先进的固态器件和变压器技术,SSPF实现了卓越的滤波性能,提高了系统可靠性,并显着减少了元件数量,使用了AOFs所需的金属氧化物半导体场效应晶体管(MOSFET)开关的一半。这种设计不仅降低了成本,而且提高了效率。仿真和实验结果表明,该滤波器具有在基频下输出正弦输出电压的能力。这些属性使SSPF成为现代电力电子应用的强大,经济高效和创新的解决方案。
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引用次数: 0
Design of LLC Magnetically Integrated Transformer Based on Nanocrystalline Soft Magnetic Composite Leakage Core 基于纳米晶软磁复合漏磁铁芯的LLC磁集成变压器设计
Pub Date : 2025-12-01 DOI: 10.30941/CESTEMS.2025.00039
Kaimeng Shi;Dianhai Zhang;Xuanzhe Zhao;Ziyan Ren
Magnetic integration technology can reduce the printed circuit board (PCB) size of inductor-inductor-capacitor (LLC) converters. However, conventional methods for adjusting leakage inductance by modifying the transformer's air gap exhibit low sensitivity and limited output power capability. This paper proposes a novel magnetically integrated transformer structure that employs nanocrystalline soft magnetic composite (SMC) lamination to separate primary and secondary cores. Using SMC for the leakage core allows for more precise control of the magnetic flux division, enabling accurate leakage inductance tuning. Furthermore, this design achieves a higher magnetizing inductance per turn. Experimental results show that the proposed GU30 magnetically integrated transformer handles a primary input active power of 206.9 W, outperforming conventional designs while maintaining a full-load efficiency above 95%. This technology has the potential to further enhance the power density of power conversion products.
磁集成技术可以减小电感-电感-电容(LLC)变换器的印刷电路板(PCB)尺寸。然而,通过改变变压器的气隙来调整漏感的传统方法灵敏度低,输出功率有限。提出了一种新型的磁集成变压器结构,该结构采用纳米晶软磁复合材料(SMC)层压分离主次铁芯。使用SMC作为漏芯,可以更精确地控制磁通划分,从而实现准确的漏感调谐。此外,这种设计实现了更高的每匝磁化电感。实验结果表明,所提出的GU30磁集成变压器处理一次输入有功功率为206.9 W,优于传统设计,且满负荷效率保持在95%以上。该技术具有进一步提高功率转换产品功率密度的潜力。
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引用次数: 0
期刊
CES Transactions on Electrical Machines and Systems
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