Repetitive-control-based self-commissioning procedure for inverter nonidealities compensation

High-performance sensorless ac drives require the exact knowledge of the motor phase voltages in the whole speed range. The use of voltage sensors may be eschewed if the reference voltage signals, generated by the control algorithm, can be used instead. To this aim, an accurate compensation of most of inverter nonidealities is essential. This paper presents a novel self-commissioning procedure for the cancellation of inverter nonidealities, based on repetitive control. The main advantage is that the compensation generated by the procedure automatically includes the insulated-gate bipolar transistor parasitic effects during current zero-crossing, whose exact knowledge is one of the major problems in most of the standard dead-time cancellation techniques. Despite its elaborated theoretical background, the method requires few computational resources, and it is easy to implement. Mathematical developments, design hints, and an extensive batch of successful experimental tests are included in this paper.