Sensorless Control of PMSM Based on an Improved Super-twisting Sliding-mode Observer

doi:10.16182/j.issn1004731x.joss.25-1012

Abstract

Abstract:

To address the chattering in back electromotive force estimation and the gain mismatch across a wide speed range when using a conventional super-twisting sliding-mode observer in the sensorless control system of a permanent-magnet synchronous motor, this paper proposed an improved adaptive-gain super-twisting sliding-mode observer. A linear correction term was introduced into the super-twisting algorithm and integrated with a gain adaptation law based on speed feedback, enabling the system to achieve finite-time convergence and high-precision back electromotive force estimation over a wide speed range. A variable-gain adaptive complex-coefficient filter was constructed to effectively suppress the harmonic components in the observed back electromotive force and avoid the amplitude attenuation and phase delay caused by using a conventional low-pass filter. Simulation results indicate that the proposed method outperforms conventional methods in terms of observation accuracy and robustness.

Key words: permanent-magnet synchronous motor, sensorless control, super-twisting sliding-mode observer, gain adaptation, complex-coefficient filter

CLC Number:

TM351

Chen Shiyu, Chen Xinmin, Hu Xionglong, Wang Heng, Han Yepeng, Chen Jiajie. Sensorless Control of PMSM Based on an Improved Super-twisting Sliding-mode Observer[J]. Journal of System Simulation, 2026, 38(8): 2324-2337.

Figures/Tables 23

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Table 1

Main parameters of PMSM

主要参数	数值
极对数 $p n$ _π	4
定子电阻 $R s / Ω$	0.045
定子电感 $L s / m H$	0.235
磁链 $ψ f / W b$	0.048 517
转动惯量 $J / (k g ⋅ m 2)$	0.003 4
阻尼系数 $B / (N ⋅ m ⋅ s)$	0

Table 1

Table 2

Controller parameters

控制方式	参数
STA-SMO	$k 1 = 150$ , $k 2 = 5 000$
IAST-SMO	$λ 1 = 0.02$ , $λ 2 = 0.005$
IAST-SMO	$λ 3 = 0.007$ , $λ 4 = 0.000 35$
VG-ACCF	$k c = 1.2$ , $k c = 2$
PLL	$k p = 200$ , $k i = 1 000$

Table 2

Fig. 8

Fig. 9

Fig. 10

Fig. 11

Table 3

Comparison of steady-state performance under improved filter control strategies

转速/(r/min)	控制方式	转速波动/(r/min)	转速观测误差/(r/min)	位置观测误差 $/ r a d$
200	STA-SMO	1.3	3.2	0.013
200	IAST-SMO	1.1	3.0	0.012
600	STA-SMO	2.7	3.9	0.029
600	IAST-SMO	1.9	3.6	0.028
1 200	STA-SMO	1.6	2.6	0.053
1 200	IAST-SMO	1.3	2.2	0.052

Table 3

Fig. 12

Fig. 13

Fig. 14

Fig. 15

Table 4

Comparison of dynamic performance under variable-speed control in no-load conditions

控制方式	超调量/(r/min)	上升/下降时间 $/ m s$	稳定时间 $/ m s$
STA-SMO	58.9	24.66	94.92
IAST-SMO	48.6	23.02	89.23
STA-SMO	57	20.75	78.04
IAST-SMO	45.9	18.67	65.47
STA-SMO	66.9	25.03	101.66
IAST-SMO	52.1	22.31	93.96

Table 4

Fig. 16

Fig. 17

Table 5

Comparison of dynamic performance under variable-load control in constant-speed conditions

转速/(r/min)	控制方式	负载变化	转速波动/(r/min)	稳定时间 $/ m s$
600	STA-SMO	1	112.7	83.42
	STA-SMO	2	129.8	76.66
	IAST-SMO	1	102.9	78.71
	IAST-SMO	2	118.2	69.12
1 200	STA-SMO	1	125.1	63.60
	STA-SMO	2	115.2	65.84
	IAST-SMO	1	115.3	60.51
	IAST-SMO	2	109	63.00

Table 5

Fig. 18

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