Sensorless control system and method for a permanent magnet rotating machine

[0002] 1. Field of the Invention

[0003] The invention relates generally to control of a rotating machine, and more particularly, to sensorless control of a permanent magnet rotating machine.

[0004] 2. Description of Related Art

[0005] Permanent magnet machines, such as brushless permanent magnet motors, are well known. For example, a permanent magnet motor typically includes a stator with phase windings therein and a rotor with permanent magnets arranged to rotate relative to the stator. Position sensing devices are provided to indicate the rotor position with respect to the stator. The phase winding energization is generally controlled by solid state switches that are responsive to the rotor position indications provided by the position sensor to energize the windings in the proper commutated sequence. The phase windings may be energized by sine wave excitation or by angle controlled square wave excitation, for example.

[0006] The phase winding excitation depends on a scheme for synchronizing electromagnetic fields with the rotor permanent magnets. This includes tracking the angular position of the rotor, which carries the permanent magnets, via the position sensors. The rotor position sensors, however, can be quite expensive. Depending on the level of motor control required to perform a particular function, this cost can represent an appreciable portion of the motor's cost. In addition, sensors take up space within a motor housing as does their associated wiring. Still further, sensors can fail, resulting in a significant degradation of the motor's performance or even causing the motor to become inoperative.

[0007] To eliminate the need for position sensors, various “sensorless” motor constructions have been proposed. Unfortunately, the known sensorless schemes for PM motors have been largely unsatisfactory. For example prior art sensorless PM machines tend to be susceptible to noise problems, and performance tends to vary with rotor speed. Moreover, typical known sensorless PM machines only function for sine wave or 120 degree square wave excitation of the machine.

[0008] Thus, a need exists for a high performance sensorless control system for rotating PM machines that addresses the shortcomings of the prior art.

[0009] In one aspect of the present invention, a permanent magnet rotating machine, such as a permanent magnet AC motor, and a control system for such a machine includes an estimator that calculates an estimate of the machine's rotor speed. The estimator receives energization feed back from the machine in a first rotating reference frame and outputs the rotor speed estimate in a second rotating reference frame. A controller receives a rotor speed demand and the rotor speed estimate, and outputs control signals for controlling energization of the machine in response to the rotor speed demand and rotor speed estimate signals.

[0010] In other aspects of the invention, a method of controlling a permanent magnet rotating machine includes receiving a rotor speed demand and generating a rotor speed command in response to the speed demand. A first rotating reference frame rotating at the commanded rotor speed is generated, and phase winding energization feed back is transformed from a stationary reference frame to the first rotating reference frame. The actual speed of the machine's rotor is estimated, and a second rotating reference frame rotating at the estimated actual rotor speed is generated. The energization feed back is transformed from the first rotating reference frame to the second rotating reference frame, and phase energization commands are calculated. The phase energization commands are transferred from the second rotating reference frame to the stationary reference frame for application to the machine phase windings.

[0011] The use of the two rotating reference frames improves performance of the control system across the machine's speed range. In exemplary implementations, a rotor position command is calculated based on the rotor speed command and the first rotating reference frame is generated based thereon. The actual rotor position may be estimated based on estimates of the magnet induced flux linkage.

[0012] Other objects and advantages of the invention will become apparent upon reading the following detailed description and upon reference to the drawings in which:

[0013] FIG. 1 is a block diagram illustrating a rotating permanent magnet machine system in accordance with an embodiment of the present invention.

[0014] FIG. 2 is a flow diagram illustrating a method for controlling a permanent magnet machine in accordance with embodiments of the present invention.

[0015] FIG. 3 is a block diagram conceptually illustrating further aspects of the permanent magnet machine system shown in FIG. 1.

[0016] FIG. 4 conceptually illustrates function blocks for transforming signals from a stationary reference frame to a rotating reference frame.

[0017] FIG. 5 is a block diagram conceptually illustrating a rotor angle and speed estimator in accordance with embodiments of the invention.

[0018] FIG. 6 is a block diagram conceptually illustrating aspects of a controller function block in accordance with embodiments of the present invention.

[0019] While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and are herein described in detail. It should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

[0020] Illustrative embodiments of the invention are described below. In the interest of clarity, not all features of an actual implementation are described in this specification. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another. Moreover, it will be appreciated that such a development effort might be complex and time-consuming, but would nevertheless be a routine undertaking for those of ordinary skill in the art having the benefit of this disclosure.

[0021] FIG. 1 illustrates a rotating permanent magnet machine system 10 in accordance with aspects of the present invention. The machine system 10 includes a rotating permanent magnet electric machine, such as a permanent magnet AC (“PMAC”) motor 12. For simplicity, the term “motors” is often used in this specification. However, one skilled in the art having the benefit of this disclosure will understand that the present invention is applicable to other types of rotating electric machines, including motors and generators. The PM motor 12 is of conventional construction that includes a rotating component (a rotor 13) and a stationary component (a stator 14). In the exemplary embodiment illustrated, the PM motor 12 is a three phase machine, accordingly, wound about the stator 14 are energizable phase windings 14A,14B,14C corresponding to the A, B and C machine phases. The phase windings 14A,14B,14C may be energized through the application of electric power to motor terminals 15A,15B,15C.

[0022] A drive 20 is coupled to provide electric power to the terminals 15A,15B,15C of the machine 12. The drive 20 receives control inputs from a controller 22, which is coupled to receive feedback from the machine 12 in terms of energization feedback 19 such as the currents and/or voltages at the terminals 15A,15B,15C. While the drive 14 is illustrated in exemplary form as providing three power terminals to the three phase machine 12, it should be understood that more or fewer power terminals may be provided to accommodate machines with greater than three phases, less than three phases or if various types of inverters (e.g., with neutral connections) are used. The drive 20 may be of conventional design and configured to provide sine wave excitation to the windings 14A,14B,14C, or square wave excitation may be used via six-step commutation.

[0023] The controller 22 also receives input command signals that correspond to a desired output parameter of machine 12 such as rotor speed, output torque, etc. In the illustrated embodiment, the controller 22 receives a speed demand signal 24 that represents the desired rotational velocity of the rotor 13. As described in more detail below, the drive 20 controls the application of electric power to the PM machine 12 in response to the controller 22 to achieve the demanded speed—the controller operates to minimize the difference between the desired speed and the actual speed.

[0024] The PM machine system 12 is a “sensorless” system, in that direct rotor position sensing devices are not used. Rather, the rotor position and speed are determined based on the energization feedback 19, eliminating the cost and complexity added by separate position sensors.

[0025] FIG. 2 generally shows a control method for the system 10 in accordance with exemplary embodiments of the present invention. The various transforms and control schemes described herein may be implemented, for example, by an appropriately programmed digital controller, such as a digital signal processor (DSP), microcontroller or microprocessor. As noted above, the controller 22 receives the speed demand signal 24 that represents the desired rotational speed of the rotor 13. In general, the speed demand is compared to the actual rotor speed to calculate a speed error, and control laws are applied to the error signal to adjust the application of power to the motor terminals 15A,15B,15C, thus minimizing the speed error. Since rotor position sensors are not used in the illustrated system 10, information available from the motor terminals 15A,15B,15C is used to estimate the rotor position and speed, and this estimate is compared to the speed demand signal 24 to calculate the speed error.

[0026] Referring to FIG. 2, the speed demand signal 24 is received by the system, and based thereon, speed and angle commands are generated in block 210. The speed and angle command signals, together with the energization feedback 19 (for example, phase current and/or voltage), are used to generate a first rotating reference frame in block 212, and the energization feedback 19 is transformed from the stationary stator reference frame into the first rotating reference frame.

[0027] At start-up (zero speed), the terminal feedback information 19 is not useful. Thus, the system starts open loop, and block 212 uses open loop start information (block 214 ) to generate the rotating reference frame and subsequent command signals. Further, since the motor 12 does not include rotor position sensors, the first rotating reference frame is initially based on the commanded speed and angle, since information to estimate the actual rotor speed is not useful at zero speed.

[0028] The terminal feedback 19, transformed into the first reference frame rotating at the commanded speed, is used to estimate the actual rotor angle in block 218. In the illustrated exemplary method, the total flux and the magnet flux linkages are estimated in the first reference frame in block 214. The flux linkage estimates are transformed into the stator αβ frame of reference in block 216 and used to estimate the rotor angle in block 218. Based on the estimate of the actual rotor angle in block 218, a second rotating reference frame is generated, rotating in synchronism with the estimated rotor angle in block 220, and in block 222, the actual rotor speed is estimated in the second rotating reference frame.

[0029] The estimated rotor angle and speed information (blocks 218, 222) is fed back to the controller 22 to be applied to various control laws in block 224, together with the angle and speed command signals, to generate the proper voltages to be applied to the machine terminals 15A,15B,15C. In block 226, the voltage information is transformed back to the stationary reference frame so that the drive 20 can apply the proper voltages to the machine terminals 15A,15B,15C.

[0030] FIG. 3 conceptually illustrates further aspects of the PM machine system 10 in accordance with certain embodiments of the present invention. It is common in many applications to utilize what is known as a balanced three phase feed for energizing the motor's phase windings. In such systems, when a three-phase motor is used, the sum of the three phase currents will equal zero. Hence, the αβ0-Frame of Reference (“FoR”) can be used. The following disclosure assumes a PMAC motor using a balanced three phase feed.

[0031] Based on the speed demand signal 24, the angle and speed command signals for the A, B and C motor phases are output to a transformation block 30 that creates a first, or “command,” reference frame rotating in synchronism with the commanded motor speed and commanded rotor position. In other words, the command reference frame rotates at the commanded speed. The command reference frame is also referred to herein as the “QDv” frame of reference (“QDv-FoR”). The motor terminal feedback 19 is also received by the transformation block 30, which transforms the phase currents and phase voltages into the command reference frame.

[0032] FIG. 4 generally illustrates the transformation block 32 in further detail. As noted above, the current and voltage signals are transformed from the stationary ABC reference frame (“ABC-FoR”) to the command reference frame, which rotates at the to commanded speed with the commanded angle (rotor position). The transformation block 30 includes a current function block 30A and a voltage function block 30B. The current and voltage function blocks 30A,30B receive, respectively, the phase currents 101A,101B,101C and the command voltages 102A,102B,102C that are provided to the drive 20 for application to the motor terminals 15A,15B,15C. Each of the function blocks 30A,30B also receive the angle command signal 110. The phase current and voltage information is transformed from the ABC-FoR to the αβ0-FoR, and then to the QDv-FoR Current signals 121,122 and voltage signals 123,124 are output by the transformation block 30 representing the current and voltage in the command reference frame.

[0033] The current and voltage signals 121-124 are received by an estimator block 32 from the transformation block 30. FIG. 5 shows the estimator 32 in further detail. The estimator 32 includes a flux linkage estimator 32A and an angle estimator 32B. The flux linkage estimator 32A receives the current and voltage signals 121-124 along with a speed command signal 111 from the controller 22 and a filtered representation of the estimated rotor speed 163 from a low pass filter 164. The flux linkage estimator 32A calculates an estimate of the total flux linkage and the magnet induced flux linkage in the command reference frame, and accordingly, outputs total flux linkage estimate signals 131, 132 and magnet flux linkage estimate signals 133,134. The angle estimator 32B then receives the magnet flux linkage signals 133, 134 and the angle command signal 110 to calculate an estimate of the actual rotor angle 140. The magnet flux linkage signals 133, 134 are received by the angle estimator 32B in the command reference frame, and transformed into the αβ0-FoR. The magnet flux estimates in the αβ0-FoR are then used to estimate the angular position of the rotor, and the corresponding signal 140 is output by the angle estimator 32B.

[0034] The rotor angle estimate signal 140 is provided to a QDv to QDr transformation function block 150 that uses this information to transform the voltage and current signals 121-124 from the command reference frame (rotating at the commanded speed in synchronism with the commanded angle (rotor position)) to a second, or “rotor,” rotating reference frame that rotates in synchronism with the estimated actual rotor speed. The rotor reference frame is also referred to as the QDr frame of reference (“QDr-FoR”).

[0035] The use of the two rotating frames (QDv-FoR and QDr-FoR) provides better response and high performance throughout speed range of the motor 12. Since the command reference frame, even initially, rotates at nearly the same speed as the rotor reference frame, the controller and estimator gains required are significantly reduced. The two rotating frames will quickly converge as the system approaches steady state, at which the first and second rotating frames will be rotating in synchronism. The result of the first and second rotating frames rotating at the same speed is the estimated magnet and total flux linkages become “DC” quantities, allowing the estimator error to become zero in steady state.

[0036] The transformation bock 150 outputs current signals 151, 152 and voltage signals 153,154 in the rotor reference frame. In certain embodiments, the current signals 151,152 are filtered and also provided to the speed estimator as input signals 155, 156. The current and voltage signals 151-156 in the rotor reference frame are then used by a speed calculator 160 to calculate an estimate of the actual rotor speed 162. The rotor angle and speed estimate signals 140,162 and the flux linkage estimate signals 131,132 are fed back to the controller 22. The controller 22 is generally shown in additional detail in FIG. 6. The controller 22 includes an angle and speed command generator 22A and a flux controller 22B. The angle and speed command generator 22A receives the speed demand and estimated speed signals 24, 162, and outputs the angle and speed command signals 110, 111 in response thereto.

[0037] The flux controller 22B includes a QDr flux controller 170 that operates in the rotor reference frame (rotating in synchronism with the estimated actual rotor speed). The QDr flux controller 170 transforms the flux linkage estimate signals 131,132 from the command reference frame (QDv-FoR) to the rotor reference frame (QDr-FoR). The speed command 111 and the estimated actual speed 140, and the transformed flux linkage signals 131,132 are applied to appropriate control laws to generate command voltage signals in the rotor reference frame, or QDr-FoR.

[0038] More specifically, the QDr flux controller 170 is where the commanded speed 111 is compared with the estimated speed 162, the total flux linkage estimates 131,132 in the QDv FoR are transformed into the QDr FoR. The total flux linkage references in the QDr FoR are generated from a predetermined map and the speed error. A feed forward term is added to the flux linkage references and flux linkage errors are generated. Finally, QDr command voltages are generated by QDr FoR flux linkage control laws acting upon the QDr FoR flux linkage errors. In alternative embodiments, a current controller is used in place of the QDr flux controller 170 to control current rather than flux.

[0039] The command voltage signals are then transformed from the QDr-FoR to the stationary αβ0-FoR, and then to the ABC-FoR in a transformation function block 172, which outputs the voltage command signals 102A,102B,102C. At start up, or zero speed, however, the terminal feedback 19 is not useful for operation of the QDr flux controller 170. Thus, an open loop start controller 174 is included in exemplary embodiments of the invention. The start controller 174 receives the speed command signal 110 from the angle and speed command generator 22A to generate an open loop angle command signal. Appropriate gain factors are applied to the angle command signal to generate open loop start voltage commands for each of the motor phases. The open loop start voltage commands are provided to the transformation block 172 to generate the appropriate voltage commands 102A,102B,102C. In other exemplary embodiments, the open loop start controller 174 is not used, and the necessary open loop start function is generated by the QDr flux controller 170, which generates a portion of the QDr FoR flux linkage reference that represents a nominal load characteristic.

[0040] A detailed block diagram is provided in the appendix hereto, illustrating the transforms and calculation details for an exemplary control system in accordance with embodiments of the present invention.

[0041] An example of an approach that may be used to implement the above described control system follows. It is assumed that the PM machine 12 comprises a PMAC motor using a three phase balanced feed. The phase flux linkage model for an ideal PMAC motor can be written as below in matrix form: $\begin{array}{cc}\left[\begin{array}{c}\lambda \mathrm{an}\left(t\right)\\ \lambda \mathrm{bn}\left(t\right)\\ \lambda \mathrm{cn}\left(t\right)\end{array}\right]=\left[\begin{array}{c}\lambda f·\cos \left(\theta r\left(t\right)\right)\\ \lambda f·\cos \left(\theta r\left(t\right)+\frac{-2}{3}·\pi \right)\\ \lambda f·\cos \left(\theta r\left(t\right)+\frac{-4}{3}·\pi \right)\end{array}\right]+\left[\begin{array}{ccc}\mathrm{Lls}& -M& -M\\ -M& \mathrm{Lls}& -M\\ -M& -M& \mathrm{Lls}\end{array}\right]·\left[\begin{array}{c}\mathrm{Ia}\left(t\right)\\ \mathrm{Ib}\left(t\right)\\ \mathrm{Ic}\left(t\right)\end{array}\right]& \left(1\right)\end{array}$

[0042] The electrical (voltage) equation for the same PMAC machine can be written in general as: $\begin{array}{cc}\left[\begin{array}{c}\mathrm{Van}\left(t\right)\\ \mathrm{Vbn}\left(t\right)\\ \mathrm{Vcn}\left(t\right)\end{array}\right]=\left[\begin{array}{ccc}\mathrm{Ra}& 0& 0\\ 0& \mathrm{Rb}& 0\\ 0& 0& \mathrm{Rc}\end{array}\right]·\left[\begin{array}{c}\mathrm{Ia}\left(t\right)\\ \mathrm{Ib}\left(t\right)\\ \mathrm{Ic}\left(t\right)\end{array}\right]+\left[\begin{array}{c}\frac{d}{dt}\lambda \mathrm{an}\left(t\right)\\ \frac{d}{dt}\lambda \mathrm{bn}\left(t\right)\\ \frac{d}{dt}\lambda \mathrm{cn}\left(t\right)\end{array}\right]& \left(2\right)\end{array}$

[0043] The magnet induced flux linkage can be written as. $\begin{array}{cc}\left[\begin{array}{c}\lambda \mathrm{f\_a}\left(t\right)\\ \lambda \mathrm{f\_b}\left(t\right)\\ \lambda \mathrm{f\_c}\left(t\right)\end{array}\right]=\left[\begin{array}{c}\lambda f·\cos \left(\theta r\left(t\right)\right)\\ \lambda f·\cos \left(\theta r\left(t\right)+\frac{-2}{3}·\pi \right)\\ \lambda f·\cos \left(\theta r\left(t\right)+\frac{-4}{3}·\pi \right)\end{array}\right]& \left(3\right)\end{array}$

[0044] The derivative with respect to time of the magnet flux linkage can be written as. $\begin{array}{cc}\left[\begin{array}{c}\frac{d}{dt}\lambda \mathrm{f\_a}\left(t\right)\\ \frac{d}{dt}\lambda \mathrm{f\_b}\left(t\right)\\ \frac{d}{dt}\lambda \mathrm{f\_c}\left(t\right)\end{array}\right]=\left[\begin{array}{c}-\lambda f·\sin \left(\theta r\left(t\right)\right)\frac{d}{dt}\theta r\left(t\right)\\ -\lambda f·\sin \left(\theta r\left(t\right)+\frac{-2}{3}·\pi \right)·\frac{d}{dt}\theta r\left(t\right)\\ -\lambda f·\sin \left(\theta r\left(t\right)+\frac{-4}{3}·\pi \right)·\frac{d}{dt}\theta r\left(t\right)\end{array}\right]& \left(4\right)\end{array}$

[0045] Each of equations 1-4 can be transformed into the αβ0 FoR by using C and C_inv. The transformation equations are written as.

[0046] fαβ0=fabc  (5)

[0047] fabc=C_—inv fαβ0  (6)

[0048] $\begin{array}{cc}C=\left[\begin{array}{ccc}\frac{2}{3}& \frac{-1}{3}& \frac{-1}{3}\\ 0& \frac{-1}{3}·\sqrt{3}& \frac{1}{3}·\sqrt{3}\\ \frac{1}{3}& \frac{1}{3}& \frac{1}{3}\end{array}\right]& \left(7\right)\\ \mathrm{C\_inv}=\left[\begin{array}{ccc}1& 0& 1\\ \frac{-1}{2}& \frac{-1}{2}·\sqrt{3}& 1\\ \frac{-1}{2}& \frac{1}{2}·\sqrt{3}& 1\end{array}\right]& \left(8\right)\end{array}$

[0049] Equations 1-4 are thus transformed to the αβ0-FoR as follows. Equation 1, the phase flux linkage model for the ideal PMAC motor is written in the αβ0-FoR as below: $\begin{array}{cc}\left[\begin{array}{c}\lambda \alpha \left(t\right)\\ \lambda \beta \left(t\right)\\ \lambda 0\left(t\right)\end{array}\right]=\left[\begin{array}{c}\lambda f·\cos \left(\theta r\left(t\right)\right)\\ -\lambda f·\sin \left(\theta r\left(t\right)\right)\\ 0\end{array}\right]+\left[\begin{array}{ccc}\mathrm{Lls}+M& 0& 0\\ 0& \mathrm{Lls}+M& 0\\ 0& 0& \mathrm{Lls}-2·M\end{array}\right]·\left[\begin{array}{c}I\alpha \left(t\right)\\ I\beta \left(t\right)\\ \mathrm{I0}\left(t\right)\end{array}\right]& \left(9\right)\end{array}$

[0050] With Ra=Rb=Rc, Equation 2, the electrical (voltage) equation for the same PMAC machine, is written in the αβ0-FoR as $\begin{array}{cc}\left[\begin{array}{c}V\alpha \left(t\right)\\ V\beta \left(t\right)\\ \mathrm{V0}\left(t\right)\end{array}\right]=\left[\begin{array}{ccc}R& 0& 0\\ 0& R& 0\\ 0& 0& R\end{array}\right]·\left[\begin{array}{c}I\alpha \left(t\right)\\ I\beta \left(t\right)\\ \mathrm{I0}\left(t\right)\end{array}\right]+\left[\begin{array}{c}\frac{d}{dt}\mathrm{\lambda \alpha }\left(t\right)\\ \frac{d}{dt}\lambda \beta \left(t\right)\\ \frac{d}{dt}\lambda 0\left(t\right)\end{array}\right]& \left(10\right)\end{array}$

[0051] Equation 3, the magnet induced flux linkage, is written in terms of αβ0 coordinates as $\begin{array}{cc}\left[\begin{array}{c}\lambda \mathrm{f\_\alpha }\left(t\right)\\ \lambda \mathrm{f\_\beta }\left(t\right)\\ \lambda \mathrm{f\_}0\left(t\right)\end{array}\right]=\left[\begin{array}{c}\lambda f·\cos \left(\theta r\left(t\right)\right)\\ -\lambda f·\sin \left(\theta r\left(t\right)\right)\\ 0\end{array}\right]& \left(11\right)\end{array}$

[0052] Equation 4, the derivative with respect to time of the magnet induced flux linkage, is written in terms of αβ0 coordinates as $\begin{array}{cc}\left[\begin{array}{c}\frac{d}{dt}\lambda \mathrm{f\_\alpha }\left(t\right)\\ \frac{d}{dt}\lambda \mathrm{f\_\beta }\left(t\right)\\ \frac{d}{dt}\lambda \mathrm{f\_}0\left(t\right)\end{array}\right]=\left[\begin{array}{c}-\lambda f·\sin \left(\theta r\left(t\right)\right)·\frac{d}{dt}\theta r\left(t\right)\\ -\lambda f·\cos \left(\theta r\left(t\right)\right)·\frac{d}{dt}\theta r\left(t\right)\\ 0\end{array}\right]& \left(12\right)\end{array}$

[0053] Solving Equation 9 for the αβ0 currents results in the following: $\begin{array}{cc}\left[\begin{array}{c}I\alpha \left(t\right)\\ I\beta \left(t\right)\\ \mathrm{I0}\left(t\right)\end{array}\right]=\left[\begin{array}{ccc}\frac{1}{\left(\mathrm{Lls}+M\right)}& 0& 0\\ 0& \frac{1}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& 0& \frac{-1}{\left(-\mathrm{Lls}+2·M\right)}\end{array}\right]·\left[\begin{array}{c}\lambda \alpha \left(t\right)\\ \lambda \beta \left(t\right)\\ \mathrm{\lambda 0}\left(t\right)\end{array}\right]-\left[\begin{array}{ccc}\frac{1}{\left(\mathrm{Lls}+M\right)}& 0& 0\\ 0& \frac{1}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& 0& \frac{-1}{\left(-\mathrm{Lls}+2·M\right)}\end{array}\right]·\left[\begin{array}{c}\lambda f·\cos \left(\theta r\left(t\right)\right)\\ -\lambda f·\sin \left(\theta r\left(t\right)\right)\\ 0\end{array}\right]& \left(13\right)\end{array}$

[0054] Substituting Equation 13 into Equation 10 results in $\begin{array}{cc}\left[\begin{array}{c}V\alpha \left(t\right)\\ V\beta \left(t\right)\\ \mathrm{V0}\left(t\right)\end{array}\right]=\left[\begin{array}{ccc}R& 0& 0\\ 0& R& 0\\ 0& 0& R\end{array}\right]·\left[\begin{array}{c}\left[\begin{array}{ccc}\frac{1}{\left(\mathrm{Lls}+M\right)}& 0& 0\\ 0& \frac{1}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& 0& \frac{-1}{\left(-\mathrm{Lls}+2·M\right)}\end{array}\right]·\left[\begin{array}{c}\lambda \alpha \left(t\right)\\ \lambda \beta \left(t\right)\\ \mathrm{\lambda 0}\left(t\right)\end{array}\right]\dots \\ +\left(-1\right)·\left[\begin{array}{ccc}\frac{1}{\left(\mathrm{Lls}+M\right)}& 0& 0\\ 0& \frac{1}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& 0& \frac{-1}{\left(-\mathrm{Lls}+2·M\right)}\end{array}\right]·\left[\begin{array}{c}\lambda f·\cos \left(\theta r\left(t\right)\right)\\ -\lambda f·\sin \left(\theta r\left(t\right)\right)\\ 0\end{array}\right]\end{array}\right]+\left[\begin{array}{c}\frac{d}{dt}\mathrm{\lambda \alpha }\left(t\right)\\ \frac{d}{dt}\lambda \beta \left(t\right)\\ \frac{d}{dt}\lambda 0\left(t\right)\end{array}\right]& \left(14\right)\end{array}$

[0055] Equation 14 can be simplified as follows: $\begin{array}{cc}\left[\begin{array}{c}V\alpha \left(t\right)\\ V\beta \left(t\right)\\ \mathrm{V0}\left(t\right)\end{array}\right]=\left[\begin{array}{c}\left[\begin{array}{ccc}\frac{R}{\left(\mathrm{Lls}+M\right)}& 0& 0\\ 0& \frac{R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& 0& \frac{-R}{\left(-\mathrm{Lls}+2·M\right)}\end{array}\right]·\left[\begin{array}{c}\lambda \alpha \left(t\right)\\ \lambda \beta \left(t\right)\\ \mathrm{\lambda 0}\left(t\right)\end{array}\right]\dots \\ +\left[\begin{array}{ccc}\frac{-R}{\left(\mathrm{Lls}+M\right)}& 0& 0\\ 0& \frac{-R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& 0& \frac{R}{\left(-\mathrm{Lls}+2·M\right)}\end{array}\right]·\left[\begin{array}{c}\lambda f·\cos \left(\theta r\left(t\right)\right)\\ -\lambda f·\sin \left(\theta r\left(t\right)\right)\\ 0\end{array}\right]\end{array}\right]+\left[\begin{array}{c}\frac{d}{dt}\mathrm{\lambda \alpha }\left(t\right)\\ \frac{d}{dt}\lambda \beta \left(t\right)\\ \frac{d}{dt}\lambda 0\left(t\right)\end{array}\right]& \left(15\right)\end{array}$

[0056] Solving for the derivatives of the flux linkages with respect to time results in $\begin{array}{cc}\left[\begin{array}{c}\frac{d}{dt}\mathrm{\lambda \alpha }\left(t\right)\\ \frac{d}{dt}\lambda \beta \left(t\right)\\ \frac{d}{dt}\lambda 0\left(t\right)\end{array}\right]=\left[\begin{array}{c}V\alpha \left(t\right)\\ V\beta \left(t\right)\\ \mathrm{V0}\left(t\right)\end{array}\right]-\left[\begin{array}{c}\left[\begin{array}{ccc}\frac{R}{\left(\mathrm{Lls}+M\right)}& 0& 0\\ 0& \frac{R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& 0& \frac{-R}{\left(-\mathrm{Lls}+2·M\right)}\end{array}\right]·\left[\begin{array}{c}\lambda \alpha \left(t\right)\\ \lambda \beta \left(t\right)\\ \mathrm{\lambda 0}\left(t\right)\end{array}\right]\dots \\ +\left[\begin{array}{ccc}\frac{-R}{\left(\mathrm{Lls}+M\right)}& 0& 0\\ 0& \frac{-R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& 0& \frac{R}{\left(-\mathrm{Lls}+2·M\right)}\end{array}\right]·\left[\begin{array}{c}\lambda f·\cos \left(\theta r\left(t\right)\right)\\ -\lambda f·\sin \left(\theta r\left(t\right)\right)\\ 0\end{array}\right]\end{array}\right]& \left(16\right)\end{array}$

[0057] The other equation used to build the state model of the system is the torque equation. Assuming that the load torque is all inertial: $\begin{array}{cc}J·\frac{d^2}{d{t}^2}\left(\theta r\left(t\right)\right)=\mathrm{Te}\left(I\alpha ,I\beta ,\mathrm{I0},\theta r\right)=\left(-\lambda f·\frac{\mathrm{Np}}{2}\right)·\left[\begin{array}{ccc}\frac{3}{2}·\sin \left(\theta r\left(t\right)\right)& \frac{3}{2}·\cos \left(\theta r\left(t\right)\right)& 0\end{array}\right]·\left[\begin{array}{c}I\alpha \\ I\beta \\ \mathrm{I0}\end{array}\right]& \left(17\right)\end{array}$

[0058] Solving for angular velocity (ωr_dot): $\begin{array}{cc}\omega \mathrm{r\_dot}\left(t\right)=\frac{-3·\lambda f}{2·J}·\frac{Np}{2}·\left(\sin \left(\theta r\left(t\right)\right)\cos \left(\theta r\left(t\right)\right)0\right)·\left[\begin{array}{c}I\alpha \\ I\beta \\ I0\end{array}\right]& \left(18\right)\end{array}$

[0059] Substituting for Iα(t) and Iβ(t) from equation (13) results in the following: $\begin{array}{cc}\begin{array}{c}\omega \mathrm{r\_dot}\left(t\right)=\frac{-3·\lambda f}{2·J}·\frac{Np}{2}·\left(\sin \left(\theta r\left(t\right)\right)\cos \left(\theta r\left(t\right)\right)\right)·\\ \left[\begin{array}{c}\frac{1}{\left(\mathrm{Lls}+M\right)}·\mathrm{\lambda \alpha }\left(t\right)-\frac{1}{\left(\mathrm{Lls}+M\right)}·\lambda f·\cos \left(\theta r\left(t\right)\right)\\ \frac{1}{\left(\mathrm{Lls}+M\right)}·\mathrm{\lambda \beta }\left(t\right)+\frac{1}{\left(\mathrm{Lls}+M\right)}·\lambda f·\sin \left(\theta r\left(t\right)\right)\end{array}\right]\end{array}& \left(19\right)\end{array}$

[0060] Simplifying and writing the torque equation in terms of the total flux linkage and magnet flux linkage λf_x's and λx's only gives $\begin{array}{cc}\begin{array}{c}\omega \mathrm{r\_dot}\left(t\right)=\left(\frac{3}{2}\right)·\frac{Np}{2}·\frac{1}{\left(J·\left(\mathrm{Lls}+M\right)\right)}·\lambda \mathrm{f\_\beta }\left(t\right)·\lambda \alpha \left(t\right)-\left(\frac{3}{2}\right)·\\ \frac{Np}{2}·\frac{1}{(J·\left(\mathrm{Lls}+M\right)}·\lambda \mathrm{f\_\alpha }\left(t\right)·\lambda \beta \left(t\right)\end{array}& \left(20\right)\end{array}$

[0061] A state equation can now be formulated with λα, λβ, λf_α, λf_β, ωr as state variables using Equations 17, 16, 11 and 12. $\begin{array}{cc}\begin{array}{c}\left[\begin{array}{c}\frac{d}{dt}\mathrm{\lambda \alpha }\left(t\right)\\ \frac{d}{dt}\mathrm{\lambda \beta }\left(t\right)\\ \frac{d}{dt}\lambda \mathrm{f\_\alpha }\left(t\right)\\ \frac{d}{dt}\lambda \mathrm{f\_\beta }\left(t\right)\\ \frac{d}{dt}\omega r\left(t\right)\end{array}\right]=\left[\begin{array}{ccccc}\frac{-R}{\left(\mathrm{Lls}+M\right)}& 0& \frac{R}{\left(\mathrm{Lls}+M\right)}& 0& 0\\ 0& \frac{-R}{\left(\mathrm{Lls}+M\right)}& 0& \frac{R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0\end{array}\right]·\\ \left[\begin{array}{c}\mathrm{\lambda \alpha }\left(t\right)\\ \mathrm{\lambda \beta }\left(t\right)\\ \lambda \mathrm{f\_\alpha }\left(t\right)\\ \lambda \mathrm{f\_\beta }\left(t\right)\\ \omega r\left(t\right)\end{array}\right]-\left[\begin{array}{c}0\\ 0\\ \lambda \mathrm{f\_\beta }\left(t\right)·\omega r\left(t\right)\\ -\left(\lambda \mathrm{f\_\alpha }\left(t\right)·\omega r\left(t\right)\right)\\ \frac{3}{2}·\frac{Np}{2}·\frac{1}{\left(J·\left(\mathrm{Lls}+M\right)\right)}·\lambda \mathrm{f\_\beta }\left(t\right)·\mathrm{\lambda \alpha }\left(t\right)-\\ \frac{3}{2}·\frac{Np}{2}·\frac{1}{\left(J·\left(\mathrm{Lls}+M\right)\right)}·\lambda \mathrm{f\_\alpha }\left(t\right)·\mathrm{\lambda \beta }\left(t\right)\end{array}\right]+\\ \left[\begin{array}{cc}1& 0\\ 0& 1\\ 0& 0\\ 0& 0\\ 0& 0\end{array}\right]·\left[\begin{array}{c}V\alpha \left(t\right)\\ V\beta \left(t\right)\end{array}\right]\end{array}& \left(21\right)\end{array}$

[0062] Equation 21 is non-linear in that the second term on the right side of the equation contains products of state variables. Equation 22 is linearized about “past values” (the past values being designated by xxxx_nom) of the state variables under the assumption that the estimator will converge much faster than the operating point defined by the “past values” will change. However, with the suggested approach using αβ variables, the estimated variables change at a cyclic rate that corresponds to the motor electrical frequency. The assumption will essentially “fall apart” as the motor electrical frequency gets close to the “poles” of the linearized estimator. The problem can be alleviated if the estimated variables are transformed into a frame of reference attached to the rotor in which the state variables will be DC quantities in steady state operation. $\begin{array}{cc}\begin{array}{c}\left[\begin{array}{c}\frac{d}{dt}\mathrm{\lambda \alpha }\left(t\right)\\ \frac{d}{dt}\mathrm{\lambda \beta }\left(t\right)\\ \frac{d}{dt}\lambda \mathrm{f\_\alpha }\left(t\right)\\ \frac{d}{dt}\lambda \mathrm{f\_\beta }\left(t\right)\\ \frac{d}{dt}\omega r\left(t\right)\end{array}\right]=\left[\begin{array}{ccccc}\frac{-R}{\left(\mathrm{Lls}+M\right)}& 0& \frac{R}{\left(\mathrm{Lls}+M\right)}& 0& 0\\ 0& \frac{-R}{\left(\mathrm{Lls}+M\right)}& 0& \frac{R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& 0& 0& \omega \mathrm{r\_nom}\left(t\right)& \lambda \mathrm{f\_\beta }\mathrm{\_nom}\left(t\right)\\ 0& 0& -\omega \mathrm{r\_nom}\left(t\right)& 0& -\lambda \mathrm{f\_m}\mathrm{\_nom}\left(t\right)\\ \begin{array}{c}\frac{3}{2}·\frac{\frac{Np}{2}}{\left(J·\left(\mathrm{Lls}+M\right)\right)}·\\ \lambda \mathrm{f\_\beta }\mathrm{\_nom}\left(t\right)\end{array}& \begin{array}{c}-[\frac{3}{2}·\frac{\frac{Np}{2}}{\left(J·\left(\mathrm{Lls}+M\right)\right)}·\\ \lambda \mathrm{f\_\alpha }\mathrm{\_nom}\left(t\right)]\end{array}& \begin{array}{c}-[\frac{3}{2}·\frac{\frac{Np}{2}}{\left(J·\left(\mathrm{Lls}+M\right)\right)}·\\ \lambda \mathrm{\beta \_nom}\left(t\right)]\end{array}& \begin{array}{c}\frac{3}{2}·\frac{\frac{Np}{2}}{\left(J·\left(\mathrm{Lls}+M\right)\right)}·\\ \mathrm{\lambda \alpha \_nom}\left(t\right)\end{array}& 0\end{array}\right]·\left[\begin{array}{c}\mathrm{\lambda \alpha }\left(t\right)\\ \mathrm{\lambda \beta }\left(t\right)\\ \lambda \mathrm{f\_\alpha }\left(t\right)\\ \lambda \mathrm{f\_\beta }\left(t\right)\\ \omega r\left(t\right)\end{array}\right]+\\ \left[\begin{array}{cc}1& 0\\ 0& 1\\ 0& 0\\ 0& 0\\ 0& \square \end{array}\right]·\left[\begin{array}{c}V\alpha \left(t\right)\\ V\beta \left(t\right)\end{array}\right]\end{array}& \left(22\right)\end{array}$

[0063] A measurement equation that generates estimated αβ currents (Iα_hat(t) and Iβ_hat(t)) from the flux linkage estimates can be derived from Equation 13 and written as follows: $\begin{array}{cc}\begin{array}{c}\left[\begin{array}{c}I\mathrm{\alpha \_hat}\left(t\right)\\ I\mathrm{\beta \_hat}\left(t\right)\end{array}\right]=\left[\begin{array}{ccccc}\frac{1}{\left(\mathrm{Lls}+M\right)}& 0& -\left[\frac{1}{\left(\mathrm{Lls}+M\right)}\right]& 0& 0\\ 0& \frac{1}{\left(\mathrm{Lls}+M\right)}& 0& -\left[\frac{1}{\left(\mathrm{Lls}+M\right)}\right]& 0\end{array}\right]·\\ \left[\begin{array}{c}\mathrm{\lambda \alpha }\left(t\right)\\ \mathrm{\lambda \beta }\left(t\right)\\ \lambda \mathrm{f\_\alpha }\left(t\right)\\ \lambda \mathrm{f\_\beta }\left(t\right)\\ \omega r\left(t\right)\end{array}\right]\end{array}& \left(23\right)\end{array}$

[0064] The transformation between the stationary αβ0-FoR and the QDv-FoR (rotating in synchronism with the commanded speed θv(t)) can be written as. $\begin{array}{cc}\mathrm{KQDv\_\alpha \beta }=\left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& -\sin \left(\theta v\left(t\right)\right)\\ \sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\end{array}\right]& \left(24\right)\\ \mathrm{KQDv\_\alpha \beta }\mathrm{\_inv}=\left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& \sin \left(\theta v\left(t\right)\right)\\ -\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\end{array}\right]& \left(25\right)\\ \mathrm{KQDv\_\alpha \beta }\mathrm{\_inv}\mathrm{\_dot}=\left[\begin{array}{cc}-\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\\ -\cos \left(\theta v\left(t\right)\right)& -\sin \left(\theta v\left(t\right)\right)\end{array}\right]& \left(26\right)\end{array}$

[0065] The relationship between the αβ0-FoR and the QDv-FoR variables is

[0066] fQDv=KQDv_—αβ·fαβ  (27)

[0067] fαβ=KQDv_—αβ—inv·fQDv  (28)

[0068] Equations 16 and 20 are transformed from the αβ0-FoR into the QDv-FoR as follows. Equation 16 is rewritten with λf_α(t) and λf_β(t) substituted for the cos(θr(t)) and sin(θr(t)) terms, and Equation 20 is written in vector form. $\begin{array}{cc}\begin{array}{c}\left[\begin{array}{c}\frac{d}{dt}\mathrm{\lambda \alpha }\left(t\right)\\ \frac{d}{dt}\mathrm{\lambda \beta }\left(t\right)\end{array}\right]=\left[\left[\begin{array}{c}V\alpha \left(t\right)\\ V\beta \left(t\right)\end{array}\right]-\left[\begin{array}{cc}\frac{R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& \frac{R}{\left(\mathrm{Lls}+M\right)}\end{array}\right]·\left[\begin{array}{c}\mathrm{\lambda \alpha }\left(t\right)\\ \mathrm{\lambda \beta }\left(t\right)\end{array}\right]\right]-\\ \left[\begin{array}{cc}\frac{-R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& \frac{-R}{\left(\mathrm{Lls}+M\right)}\end{array}\right]·\left[\begin{array}{c}\lambda \mathrm{f\_\alpha }\left(t\right)\\ \lambda \mathrm{f\_\beta }\left(t\right)\end{array}\right]\end{array}& \left(29\right)\\ \omega \mathrm{r\_dot}\left(t\right)=\frac{3}{2}·\frac{\frac{Np}{2}}{\left(J·\left(\mathrm{Lls}+M\right)\right)}·\left(-\mathrm{\lambda \beta }\left(t\right)\mathrm{\lambda \alpha }\left(t\right)\right)·\left[\begin{array}{c}\lambda \mathrm{f\_\alpha }\left(t\right)\\ \lambda \mathrm{f\_\beta }\left(t\right)\end{array}\right]& \left(30\right)\end{array}$

[0069] Equation 30 is rewritten in terms of the state variables λα(t), λβ(t), λf_α(t) and λf_β(t). $\begin{array}{cc}\omega \mathrm{r\_dot}\left(t\right)=\frac{3}{2}·\frac{\frac{Np}{2}}{\left(J·\left(\mathrm{Lls}+M\right)\right)}·{\left[\left[\begin{array}{cc}0& -1\\ 1& 0\end{array}\right]·\left[\begin{array}{c}\mathrm{\lambda \alpha }\left(t\right)\\ \mathrm{\lambda \beta }\left(t\right)\end{array}\right]\right]}^T·\left[\begin{array}{c}\lambda \mathrm{f\_\alpha }\left(t\right)\\ \lambda \mathrm{f\_\beta }\left(t\right)\end{array}\right]& \left(31\right)\end{array}$

[0070] Equations 29 and 31 are now transformed into the QDv-FoR, substituting for the αβ variables using the relationship described by equation (28): $\begin{array}{cc}\begin{array}{c}\frac{d}{dt}\left[\left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& \sin \left(\theta v\left(t\right)\right)\\ -\sin \left(\theta v\left(1\right)\right)& \cos \left(\beta v\left(t\right)\right)\end{array}\right]·\left[\begin{array}{c}\lambda \mathrm{qv}\left(t\right)\\ \lambda \mathrm{dv}\left(t\right)\end{array}\right]\right]=[\left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& \sin \left(\theta v\left(t\right)\right)\\ -\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\end{array}\right]·\\ \left[\begin{array}{c}V\mathrm{qv}\left(t\right)\\ V\mathrm{dv}\left(t\right)\end{array}\right]-\left[\begin{array}{cc}\frac{R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& \frac{R}{\left(\mathrm{Lls}+M\right)}\end{array}\right]·\\ \left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& \sin \left(\theta v\left(t\right)\right)\\ -\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\end{array}\right]·\left[\begin{array}{c}\lambda \mathrm{qv}\left(t\right)\\ \lambda \mathrm{dv}\left(t\right)\end{array}\right]]+\\ \left(-1\right)·\left[\begin{array}{cc}\frac{-R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& \frac{-R}{\left(\mathrm{Lls}+M\right)}\end{array}\right]·\\ \left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& \sin \left(\theta v\left(t\right)\right)\\ -\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\end{array}\right]·\left[\begin{array}{c}\lambda \mathrm{qv}\left(t\right)\\ \lambda \mathrm{dv}\left(t\right)\end{array}\right]\end{array}& \left(32\right)\\ \begin{array}{c}\omega \mathrm{r\_dot}\left(t\right)=\frac{3}{2}·\frac{\frac{Np}{2}}{(J·\left(\mathrm{Lls}+M\right)}·[\left[\begin{array}{cc}0& -1\\ 1& 0\end{array}\right]·\left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& \sin \left(\theta v\left(t\right)\right)\\ -\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\end{array}\right]·\\ {\left[\begin{array}{c}\lambda \mathrm{qv}\left(t\right)\\ \lambda \mathrm{dv}\left(t\right)\end{array}\right]]}^T·\left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& \sin \left(\theta v\left(t\right)\right)\\ -\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\end{array}\right]·\left[\begin{array}{c}\lambda \mathrm{f\_qv}\left(t\right)\\ \lambda \mathrm{f\_dv}\left(t\right)\end{array}\right]\end{array}& \left(33\right)\end{array}$

[0071] The left side of Equation 32 is expanded: $\begin{array}{cc}\left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& \sin \left(\theta v\left(t\right)\right)\\ -\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}\lambda \mathrm{qv}\left(t\right)\\ \lambda \mathrm{dv}\left(t\right)\end{array}\right]+\theta \mathrm{r\_dot}\left(t\right)·\left[\begin{array}{cc}-\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\\ -\cos \left(\theta v\left(t\right)\right)& -\sin \left(\theta v\left(t\right)\right)\end{array}\right]·\left[\begin{array}{c}\lambda \mathrm{qv}\left(t\right)\\ \lambda \mathrm{dv}\left(t\right)\end{array}\right]=\left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& \sin \left(\theta v\left(t\right)\right)\\ -\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\end{array}\right]·\left[\begin{array}{c}\lambda \mathrm{qv}\left(t\right)\\ \lambda \mathrm{dv}\left(t\right)\end{array}\right]+\left(-1\right)·\left[\begin{array}{cc}\frac{R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& \frac{R}{\left(\mathrm{Lls}+M\right)}\end{array}\right]·\left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& \sin \left(\theta v\left(t\right)\right)\\ -\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\end{array}\right]·\left[\begin{array}{c}\lambda \mathrm{qv}\left(t\right)\\ \lambda \mathrm{dv}\left(t\right)\end{array}\right]+\left(-1\right)·\left[\begin{array}{cc}\frac{-R}{\left(\mathrm{Lls}+M\right)}& 0\\ 0& \frac{-R}{\left(\mathrm{Lls}+M\right)}\end{array}\right]·\left[\begin{array}{cc}\cos \left(\theta v\left(t\right)\right)& \sin \left(\theta v\left(t\right)\right)\\ -\sin \left(\theta v\left(t\right)\right)& \cos \left(\theta v\left(t\right)\right)\end{array}\right]·\left[\begin{array}{c}\lambda \mathrm{f\_qv}\left(t\right)\\ \lambda \mathrm{f\_dv}\left(t\right)\end{array}\right]& \left(34\right)\end{array}$