Application of pulse high frequency injection sensorless control technology in robot joint system

Abstract

Because of its simple structure, high power density, and high efficiency, PMSM is becoming the developing trend of electromagnetic drive system. In the control system of PMSM, the mechanical position sensor is usually used to measure the position information as the control feedback. Since the mechanical feedback increases the weight, complexity and cost of the system, a lot of research is devoted to the sensorless control of PMSM system. However, most of the research is still limited to some applications like electric vehicles, air conditioners that require low-precision position control or only require position information for starting. This article will explore the PMSM sensorless control in the field of robotics which requires higher control accuracy based on the high frequency injection.