Zi Qiang Zhu is a Fellow of the Royal Academy of Engineering and the Head of the Electrical Machines and Power Research Group at the University of Sheffield, UK. Kan Liu is the Assistant Dean of the College of Mechanical and Vehicle Engineering at Hunan University, China. Dawei Liang is a Postdoctoral Research Associate with the University of Sheffield, UK.

• Authors xiiiPreface xvList of Abbreviations xviiList of Symbols xix1 General Introduction 11.1 Introduction 11.2 Permanent Magnet Machines 21.3 Basic Equations and Machine Parameters 51.4 Drives and Control Strategies 111.5 Outline of Parameter Estimation Techniques 141.6 Scope of This Book 17References 182 Critical Issues with Online Parameter Estimation 232.1 Rank-Deficient Problem 232.2 Non-linearity of VSI 292.3 Ill-Conditioned Problem 462.4 Summary 48References 483 Online Estimation of Rotor Flux Linkage with the Aid of Thermocouples in Stator Windings 513.1 Introduction 513.2 Online Estimation of Rotor Flux Linkage with the Aid of Thermocouples in Stator Windings 523.3 Summary 57References 574 Online Parameter Estimation Based on Current Injections 594.1 Introduction 594.2 Multi-parameter Estimation Based on Current Injection and Error Analysis 604.3 Winding Resistance and Rotor Flux Linkage Estimation Based on Current Injection under Constant Torque/Speed Control 684.4 Summary 72References 735 Online Parameter Estimation Based on Position Offset Injection 755.1 Introduction 755.2 Phasor Analysis of Rotor Position Offset in PMSMs 765.3 Position Offset-based Estimation with ​i​d ​= 0 ​Under Constant Torque/Speed Control 775.4 Position Offset-based Estimation with i​d​​ = 0​ Under Variable Speed Control 895.5 Position Offset-based Estimation with i​d ≠ 0​ Under Constant Torque/Speed Control 945.6 Position Offset-based Estimation with i​d ​= 0​ and ​ i​d ​≠ 0​Under Constant and Variable Speed Control 995.7 Analysis of Amplitude of Position Offset Injection 1035.8 Summary 108References 1096 Online Parameter Estimation Under Variable Speed Control 1116.1 Introduction 1116.2 Estimation of Stator Resistance, Inductances, and Rotor PM Flux Linkage 1126.3 Estimation of dq-axis Flux Linkage Maps with Uncertainties of Circuit Resistance and Inverter Non-linearity 1196.4 Summary 128References 1297 Estimation of Magnetic Saturation and Cross-coupling Based on High-frequency Signal Injection 1317.1 Introduction 1317.2 Magnetic Saturation Modelling and Time Delay Effect in HF Signal Injection 1337.3 HF Rotating Voltage Injection Method 1347.4 HF Pulsating Voltage Injection Method 1377.5 Combined HF Rotating and Pulsating Voltage Injection Method 1407.6 Experimental Results 1427.7 Summary 146References 1478 Offline and Multi-step Parameter Estimation Methods 1498.1 Introduction 1498.2 Parameter Estimation at Standstill by Square Voltage Injection 1508.3 Parameter Estimation at Standstill by HF Current Injection 1538.4 Multi-step Parameter Estimation 1588.5 Summary 163References 1639 Estimation of Mechanical Parameters 1659.1 Introduction 1659.2 Mechanical Parameter Estimation Methods 1669.3 Experimental Results 1709.4 Design of PI Speed Regulator 1779.5 Summary 180References 18110 Modern Control and Optimization Theory–Based Parameter Estimation Algorithms 18310.1 Introduction 18310.2 Designed Parameter Estimation Scheme 18310.3 Recursive Least-Squares 18510.4 Kalman Filter 18710.5 Model Reference Adaptive System 19010.6 Adaline Neural Network 19210.7 Gradient-Based Methods 19510.8 Particle Swarm Optimization 19810.9 Genetic Algorithm 20110.10 Summary 203References 20511 Applications of Parameter Estimation 20911.1 Introduction 20911.2 Improvement in Control Performance 21011.3 Improvement in Sensorless Control 21611.4 Precise Torque Estimation 22911.5 Thermal Condition Monitoring 23211.6 Fault Diagnosis 23411.7 Summary 237References 238Appendix A: Finite Element Calculation of Winding Inductances 243Appendix B: Specifications of Prototype Machines and Experimental Platforms 251Index 255

Zi Qiang Zhu is a Fellow of the Royal Academy of Engineering and the Head of the Electrical Machines and Power Research Group at the University of Sheffield, UK. Kan Liu is the Assistant Dean of the College of Mechanical and Vehicle Engineering at Hunan University, China. Dawei Liang is a Postdoctoral Research Associate with the University of Sheffield, UK.

• Authors xiiiPreface xvList of Abbreviations xviiList of Symbols xix1 General Introduction 11.1 Introduction 11.2 Permanent Magnet Machines 21.3 Basic Equations and Machine Parameters 51.4 Drives and Control Strategies 111.5 Outline of Parameter Estimation Techniques 141.6 Scope of This Book 17References 182 Critical Issues with Online Parameter Estimation 232.1 Rank-Deficient Problem 232.2 Non-linearity of VSI 292.3 Ill-Conditioned Problem 462.4 Summary 48References 483 Online Estimation of Rotor Flux Linkage with the Aid of Thermocouples in Stator Windings 513.1 Introduction 513.2 Online Estimation of Rotor Flux Linkage with the Aid of Thermocouples in Stator Windings 523.3 Summary 57References 574 Online Parameter Estimation Based on Current Injections 594.1 Introduction 594.2 Multi-parameter Estimation Based on Current Injection and Error Analysis 604.3 Winding Resistance and Rotor Flux Linkage Estimation Based on Current Injection under Constant Torque/Speed Control 684.4 Summary 72References 735 Online Parameter Estimation Based on Position Offset Injection 755.1 Introduction 755.2 Phasor Analysis of Rotor Position Offset in PMSMs 765.3 Position Offset-based Estimation with ​i​d ​= 0 ​Under Constant Torque/Speed Control 775.4 Position Offset-based Estimation with i​d​​ = 0​ Under Variable Speed Control 895.5 Position Offset-based Estimation with i​d ≠ 0​ Under Constant Torque/Speed Control 945.6 Position Offset-based Estimation with i​d ​= 0​ and ​ i​d ​≠ 0​Under Constant and Variable Speed Control 995.7 Analysis of Amplitude of Position Offset Injection 1035.8 Summary 108References 1096 Online Parameter Estimation Under Variable Speed Control 1116.1 Introduction 1116.2 Estimation of Stator Resistance, Inductances, and Rotor PM Flux Linkage 1126.3 Estimation of dq-axis Flux Linkage Maps with Uncertainties of Circuit Resistance and Inverter Non-linearity 1196.4 Summary 128References 1297 Estimation of Magnetic Saturation and Cross-coupling Based on High-frequency Signal Injection 1317.1 Introduction 1317.2 Magnetic Saturation Modelling and Time Delay Effect in HF Signal Injection 1337.3 HF Rotating Voltage Injection Method 1347.4 HF Pulsating Voltage Injection Method 1377.5 Combined HF Rotating and Pulsating Voltage Injection Method 1407.6 Experimental Results 1427.7 Summary 146References 1478 Offline and Multi-step Parameter Estimation Methods 1498.1 Introduction 1498.2 Parameter Estimation at Standstill by Square Voltage Injection 1508.3 Parameter Estimation at Standstill by HF Current Injection 1538.4 Multi-step Parameter Estimation 1588.5 Summary 163References 1639 Estimation of Mechanical Parameters 1659.1 Introduction 1659.2 Mechanical Parameter Estimation Methods 1669.3 Experimental Results 1709.4 Design of PI Speed Regulator 1779.5 Summary 180References 18110 Modern Control and Optimization Theory–Based Parameter Estimation Algorithms 18310.1 Introduction 18310.2 Designed Parameter Estimation Scheme 18310.3 Recursive Least-Squares 18510.4 Kalman Filter 18710.5 Model Reference Adaptive System 19010.6 Adaline Neural Network 19210.7 Gradient-Based Methods 19510.8 Particle Swarm Optimization 19810.9 Genetic Algorithm 20110.10 Summary 203References 20511 Applications of Parameter Estimation 20911.1 Introduction 20911.2 Improvement in Control Performance 21011.3 Improvement in Sensorless Control 21611.4 Precise Torque Estimation 22911.5 Thermal Condition Monitoring 23211.6 Fault Diagnosis 23411.7 Summary 237References 238Appendix A: Finite Element Calculation of Winding Inductances 243Appendix B: Specifications of Prototype Machines and Experimental Platforms 251Index 255

Zi Qiang Zhu is a Fellow of the Royal Academy of Engineering and the Head of the Electrical Machines and Power Research Group at the University of Sheffield, UK. Kan Liu is the Assistant Dean of the College of Mechanical and Vehicle Engineering at Hunan University, China. Dawei Liang is a Postdoctoral Research Associate with the University of Sheffield, UK.

• Authors xiiiPreface xvList of Abbreviations xviiList of Symbols xix1 General Introduction 11.1 Introduction 11.2 Permanent Magnet Machines 21.3 Basic Equations and Machine Parameters 51.4 Drives and Control Strategies 111.5 Outline of Parameter Estimation Techniques 141.6 Scope of This Book 17References 182 Critical Issues with Online Parameter Estimation 232.1 Rank-Deficient Problem 232.2 Non-linearity of VSI 292.3 Ill-Conditioned Problem 462.4 Summary 48References 483 Online Estimation of Rotor Flux Linkage with the Aid of Thermocouples in Stator Windings 513.1 Introduction 513.2 Online Estimation of Rotor Flux Linkage with the Aid of Thermocouples in Stator Windings 523.3 Summary 57References 574 Online Parameter Estimation Based on Current Injections 594.1 Introduction 594.2 Multi-parameter Estimation Based on Current Injection and Error Analysis 604.3 Winding Resistance and Rotor Flux Linkage Estimation Based on Current Injection under Constant Torque/Speed Control 684.4 Summary 72References 735 Online Parameter Estimation Based on Position Offset Injection 755.1 Introduction 755.2 Phasor Analysis of Rotor Position Offset in PMSMs 765.3 Position Offset-based Estimation with ​i​d ​= 0 ​Under Constant Torque/Speed Control 775.4 Position Offset-based Estimation with i​d​​ = 0​ Under Variable Speed Control 895.5 Position Offset-based Estimation with i​d ≠ 0​ Under Constant Torque/Speed Control 945.6 Position Offset-based Estimation with i​d ​= 0​ and ​ i​d ​≠ 0​Under Constant and Variable Speed Control 995.7 Analysis of Amplitude of Position Offset Injection 1035.8 Summary 108References 1096 Online Parameter Estimation Under Variable Speed Control 1116.1 Introduction 1116.2 Estimation of Stator Resistance, Inductances, and Rotor PM Flux Linkage 1126.3 Estimation of dq-axis Flux Linkage Maps with Uncertainties of Circuit Resistance and Inverter Non-linearity 1196.4 Summary 128References 1297 Estimation of Magnetic Saturation and Cross-coupling Based on High-frequency Signal Injection 1317.1 Introduction 1317.2 Magnetic Saturation Modelling and Time Delay Effect in HF Signal Injection 1337.3 HF Rotating Voltage Injection Method 1347.4 HF Pulsating Voltage Injection Method 1377.5 Combined HF Rotating and Pulsating Voltage Injection Method 1407.6 Experimental Results 1427.7 Summary 146References 1478 Offline and Multi-step Parameter Estimation Methods 1498.1 Introduction 1498.2 Parameter Estimation at Standstill by Square Voltage Injection 1508.3 Parameter Estimation at Standstill by HF Current Injection 1538.4 Multi-step Parameter Estimation 1588.5 Summary 163References 1639 Estimation of Mechanical Parameters 1659.1 Introduction 1659.2 Mechanical Parameter Estimation Methods 1669.3 Experimental Results 1709.4 Design of PI Speed Regulator 1779.5 Summary 180References 18110 Modern Control and Optimization Theory–Based Parameter Estimation Algorithms 18310.1 Introduction 18310.2 Designed Parameter Estimation Scheme 18310.3 Recursive Least-Squares 18510.4 Kalman Filter 18710.5 Model Reference Adaptive System 19010.6 Adaline Neural Network 19210.7 Gradient-Based Methods 19510.8 Particle Swarm Optimization 19810.9 Genetic Algorithm 20110.10 Summary 203References 20511 Applications of Parameter Estimation 20911.1 Introduction 20911.2 Improvement in Control Performance 21011.3 Improvement in Sensorless Control 21611.4 Precise Torque Estimation 22911.5 Thermal Condition Monitoring 23211.6 Fault Diagnosis 23411.7 Summary 237References 238Appendix A: Finite Element Calculation of Winding Inductances 243Appendix B: Specifications of Prototype Machines and Experimental Platforms 251Index 255