HFI与坐标轴

In PMSM, coordinate system is significant. The most coordinate system we used in the drive system are d-axis and q-axis. The direction of the d-axis is along the N-pole direction of the rotor and rotates with the rotor. The direction of q-axis is 90° ahead d-axis.

Another coordinate system is α-axis and β-axis. The direction of the α-axis is along the axis of the A-phase winding, while the direction of the β-axis leads the α-axis by 90° electrical angle.

θ_align represents the “electrical angle of the rotor permanent magnet (d-axis) in the αβ stationary coordinate system.” All subsequent dq transformations, Id/Iq control, HFI demodulation, and back-EMF observation operations are based on this value and continue to iteratively refine it.

At the very first, Phase U, V and W are gived currrent so that stator generates a stable magnet. The N-pole direction of the rotor will be along the stator's S-pole in tens of milliseconds. This current is direct current which only remains tens of milliseconds. Because long time direct current in the stator will heat the motor, that's not good. θ_align == 0 at this point.

Let's rotate:

0 - 100 ms:

短暂的注入稳定的直流电，定子产生一个稳定的磁场，此时转子的位置就会变化，转子的N就会被定子产生的S吸引，保持同向，此时的d轴与α夹角的角度就是估算角度。注意，此时只是瞬间确定转子的位置，如果外力稍微扭动转子，那么转子的位置就又不确定了。但是又不能一直给线圈通直流电来确定转子的角度，因为这样线圈会发热，降低效率，不优雅。

100 - 200 ms：

沿着估算d轴方向注入高频电压，真实转子角度是 θe；你的估算是 θ̂e。若存在误差 Δθ = θe − θ̂e，则注入方向与真正的 d 轴存在偏差，高频磁化路径会“看到”一个混合的 d、q 轴成分。此时估算的电角度θ^e通过闭环自动pi修正。Δθ不断采样，＜一个定值后可以判定为稳定追踪。电机对不同空间方向的高频磁化阻抗不同（线性凸极或非线性饱和），当估算轴与真实轴存在偏角 Δθ 时，注入高频电压在真实 d-q 中分裂成两个分量。目标就是通过闭环控制，使得当 Δθ = 0 时，注入矢量恰好与真实 d 轴重合，分解结果的 q 分量理想值为 0，只剩纯 d 分量。

We have to notice that the rotor rotates during HFI process, so the position of the rotor must be continuously tracked.