5.4.2. AN1292 Phase-locked Loop (PLL)

5.4.2.1. Overview

The sensorless estimator used to estimate position and velocity is essentially the same one described in application note AN1292.

../_images/an1292-pll-blkdiag.png

Figure 5.55 AN1292 Phase-locked loop block diagram

Stationary-frame voltages \(V_{\alpha\beta}\) and currents \(I_{\alpha\beta}\) are used to estimate back-emf components \(E_{\alpha\beta}\) using a discrete-time approximation of the equation

(5.24)\[E_{\alpha\beta} = V_{\alpha\beta} - R_sI_{\alpha\beta} - L_s\tfrac{d}{dt}I_{\alpha\beta}\]

The feedback loop shown in Figure 5.55 is then used to rotate \(E_{\alpha\beta}\) into the synchronous (dq) frame to produce an error signal and update the electrical angle \(\theta_e\) (rather than \(\rho_{\mathrm{estim}}\) shown in the diagram) used for rotation, where

(5.25)\[\theta_e = \rho_{\mathrm{estim}} + \rho_{\mathrm{ofs}}\]

and \(\rho_{\mathrm{ofs}}\) (motor.estimator.pll.rhoOffset in firmware) is a parameter that defaults to zero, but can be adjusted manually with real-time diagnostic tools.