A Novel <inline-formula><math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M2"><mrow><mstyle mathvariant="bold" mathsize="normal"><mi>Κ</mi></mstyle><mstyle mathvariant="bold" mathsize="normal"><mi>∞</mi></mstyle></mrow></math></inline-formula> Equivalent Sliding Mode Control for Position Sensorless Drive of Permanent Magnet Synchronous Motor

JIN Dongsong; WEI Yuzhuo; WU Qilong; LIU Ling; DU Jinhua

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A Novel

Κ \infty

Equivalent Sliding Mode Control for Position Sensorless Drive of Permanent Magnet Synchronous Motor

更新时间：2026-06-16

- A Novel $Κ \infty$ Equivalent Sliding Mode Control for Position Sensorless Drive of Permanent Magnet Synchronous Motor
- JOURNAL OF XI’AN JIAOTONG UNIVERSITY (2026)
- 作者机构：
  
  1.西安交通大学电气工程学院，710049，西安
  2.西安交通大学物理学院，710049，西安
  3.西安交通大学高能高功率脉冲电源全国重点实验室，710049，西安
- 作者简介：
- 基金信息：
- DOI：
  CLC： TM301
- Received：27 March 2026，
  
  Revised：2026-05-28，
  
  Accepted：02 June 2026，
- 稿件说明：
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JIN Dongsong, WEI Yuzhuo, WU Qilong, et al. A Novel $Κ \infty$ Equivalent Sliding Mode Control for Position Sensorless Drive of Permanent Magnet Synchronous Motor[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026.
DOI：

JIN Dongsong, WEI Yuzhuo, WU Qilong, et al. A Novel $Κ \infty$ Equivalent Sliding Mode Control for Position Sensorless Drive of Permanent Magnet Synchronous Motor[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026. DOI：

A Novel

Κ \infty

Equivalent Sliding Mode Control for Position Sensorless Drive of Permanent Magnet Synchronous Motor

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摘要

针对永磁同步电机(permanent magnet synchronous motor

PMSM)无位置传感器驱动中，磁链观测器存在谐波干扰及对电气参数失配和负载变化的鲁棒性差等问题，提出一种基于新型

等效滑模控制(

function-based equivalent sliding mode control

-ESMC)的

无位置传感器驱动策略。首先，在系统干扰及其导数未知的情况下，为实现系统状态的有限时间收敛，结合超螺旋算法、等效控制理论与

函数设计了一种新型

-ESMC方法，并根据李雅普诺夫稳定性理论证明了其收敛性；然后，为分别提高转子位置信息的观测性能和对电气参数失配及负载变化等干扰的鲁棒性，采用提出的

-ESMC方法分别设计了自适应混合有效磁链观测器(hybrid active flux observer

HAFO)和自适应转速观测器。实验结果表明：相比基于经典HAFO的驱动方法，提出的驱动策略提高了电机的动态性能和对电气参数失配及负载变化的鲁棒性，在宽速域变速测试中最大转速观测误差减少了约34 rpm，最大位置观测误差减少约0.4 rad；1.5 N·m阶跃负载测试中电机可在约1.93 s内恢复至500 rpm运行；除此之外，在定子电阻的50%与200%失配测试中呈现了良好的鲁棒性。

Abstract

To address the issues of harmonic disturbance in flux observers and poor robustness against electrical parameter mismatches and load variations in position sensorless drive of permanent magnet synchronous motor (PMSM)

a position sensorless drive strategy based on a novel

function-based equivalent sliding mode control (

-ESMC) is proposed. First

to achieve finite time convergence of system state without requiring knowledge of the disturbance or its derivatives

a novel

-ESMC method is designed by combining the equivalent control theory with a barrier function. The

-ESMC can real time observe disturbance and its convergence is proved based on Lyapunov stability theory. Then

the proposed

-ESMC is adopted to design the adaptive hybrid active flux observer (HAFO) and adaptive speed observer respectively to improve the observation performance of rotor flux and speed

as well as the robustness to disturbances such as electrical parameter mismatches and load. The experimental results show that compared to the classical HAFO method

the proposed strategy has improved the dynamic performance of the motor and its robustness against electrical parameter mismatches and load variations. In wide-speed range variable-speed test

the maximum speed observation error is reduced by about 34 rpm

the maximum position observation error is reduced by about 0.4 rad. In the 1.5 N·m step load test

the motor can recover to 500 rpm operation within approximately 1.93 s. In addition

it has demonstrated excellent robustness in the stator resistance mismatches test of 50% and 200%.

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⁰

A Novel Κ∞ Equivalent Sliding Mode Control for Position Sensorless Drive of Permanent Magnet Synchronous Motor

DOI：

摘要

Abstract

关键词

Keywords

references

A Novel $Κ \infty$ Equivalent Sliding Mode Control for Position Sensorless Drive of Permanent Magnet Synchronous Motor