A sliding mode observation method and system for sensorless control of permanent magnet synchronous machines

By introducing a proportional adjustment coefficient k into the sensorless control of a permanent magnet synchronous motor to perform coordinated weighted adjustment of the discrete sliding mode observer, the high-frequency chattering problem of the sliding mode observer is solved, more stable rotor position and speed calculation is achieved, and the robustness and accuracy of sensorless control are improved.

CN121566973BActive Publication Date: 2026-04-10SHENZHEN ZHONGQING ROBOT TECH CO LTD
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Patent Information

Application Number
CN202610084294.3
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2026-01-22
Publication Date
2026-04-10
Estimated Expiration
2046-01-22

AI Technical Summary

Technical Problem

In the current sensorless control of permanent magnet synchronous motors, the sliding mode observer suffers from high-frequency chattering, which leads to non-convergence of observations and reduced robustness. Furthermore, the existing filtering process introduces phase delay and noise amplification, affecting the accuracy of rotor position and speed calculations.

Method used

By introducing a proportional adjustment coefficient k on the basis of the discretization of the current state equation, the voltage-related terms and sliding mode control terms in the discrete sliding mode observer are coordinated and weighted to reduce the high-frequency chattering components, thus constructing an improved sliding mode observation equation. A first-order low-pass filter is added before the phase-locked loop module to suppress noise.

Benefits of technology

It improves the noise immunity and reliability of rotor position and speed calculation, enhances the stability and accuracy of sensorless control, and avoids the amplification and transmission of chattering to the closed-loop control link.

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Abstract

The application discloses a sliding mode observation method and system for permanent magnet synchronous motor non-inductive control, which is used for improving the numerical stability and observation accuracy of a discrete system, and realizing the non-inductive closed-loop control of the permanent magnet synchronous motor with good robustness and stability. The method comprises the following steps: discretizing a current state equation according to a sampling period to obtain an initial discrete sliding mode observation equation; determining a proportional adjustment coefficient k based on the inductance parameters of the motor and the sampling period, weighting and adjusting the voltage related term and the sliding mode control term in the initial discrete sliding mode observation equation by using the proportional adjustment coefficient k, and constructing an improved sliding mode observation equation; extracting an extended back electromotive force based on the output of a sliding mode control law, wherein the contribution proportion of the high-frequency chattering component of the sliding mode control law output in the extended back electromotive force is weakened by the proportional adjustment coefficient; and inputting the extended back electromotive force into a phase-locked loop module to calculate the rotor position and speed of the motor to realize the closed-loop control of the motor.
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