Knowledge of the rotor flux position is the core of the FOC. In fact if there is an error in this variable the rotor flux is not aligned with the d-axis and i_sd and i_sq are incorrect flux and torque components of the stator current. Figure 3-7 shows the (a, b, c), (α, β) and (d, q) reference frames, and the correct position of the rotor flux, the stator current and stator voltage space vector that rotates with d, q reference at synchronous speed.

Figure 3-7 Current, Voltage and Rotor Flux Space Vectors in the (d, q) Rotating Reference Frame

The measure of the rotor flux position is different when considering the synchronous or asynchronous motor:

• In the synchronous machine the rotor speed is equal to the rotor flux speed. Then θ (rotor flux position) is directly measured by the position sensor or by integration of rotor speed.
• In the asynchronous machine, the rotor speed is not equal to the rotor flux speed (there is a slip speed), then a particular method is needed to calculate θ. The basic method is the use of the current model which needs two equations of the motor model in d, q reference frame.

Theoretically, the FOC for the PMSM drive allows the motor torque to be controlled independently with the flux like DC motor operation. In other words, the torque and flux are decoupled from each other. The rotor position is required for variable transformation from stationary reference frame to synchronously rotating reference frame. As a result of this transformation (so called Park transformation), q-axis current is controlling torque while d-axis current is forced to zero. Therefore, the key module of this system is the estimation of rotor position using enhance Sliding-Mode Observer (eSMO) or FAST estimator.

Figure 3-8 shows the overall block diagram of sensorless FOC of fan PMSM using eSMO with flying start in this reference design.

Figure 3-9 shows the overall block diagram of sensorless FOC of compressor PMSM using eSMO with field weakening control (FWC) and maximum torque per ampere (MTPA) in this reference design.

Figure 3-10 shows the overall block diagram of sensorless FOC of fan PMSM using FAST with flying start in this reference design.

Figure 3-11 shows the overall block diagram of sensorless FOC of compressor PMSM using FAST with field weakening control (FWC) and maximum torque per ampere (MTPA) in this reference design.

Figure 3-8 Sensorless FOC of PMSM Using eSMO With Flying Start (FS)

Figure 3-9 Sensorless FOC of PMSM Using eSMO With FWC and MTPA

Figure 3-10 Sensorless FOC of PMSM Using FAST With Flying Start (FS)

Figure 3-11 Sensorless FOC of PMSM Using FAST With FWC and MTPA