This paper presents a sensorless control method of a permanent magnet synchronous machine (PMSM) with magnetic saliency estimation. This is based on a high-frequency injection (HFI) technique applied on the modified PMSM model in the γδ reference frame. Except for sensorless control, an emphasis is placed on the magnetic saliency estimation to indicate a practical approach in tracking PMSM inductance variations. The magnetic saliency is determined using calculations embedded in the speed and position algorithm through current measurements. A notable characteristic of the modified PMSM model is that the corresponding rotor flux integrates both permanent magnet and saliency term fluxes. In applying a HFI technique for sensorless control, the structure of the PMSM flux model is formatted accordingly. A novel inductance matrix is derived that is completely compatible with the HFI methodology, since its elements include terms of angle error differential and average inductances. In addition, a sliding mode observer (SMO) is designed to estimate the speed and angle of rotor flux based on equivalent control applying a smooth function of the angle error instead of a sign one to reduce the chattering phenomenon. The control strategy is principally based on the adequacy of the proposed modified model and on the appropriateness of the SMO structure to successfully track the rotor flux position with the required stability and accuracy. Simulation results demonstrate the performance of the PMSM sensorless control verifying the effectiveness of the proposed algorithm to detect PMSM saliency, speed and position in steady state and transient modes successfully.
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