36 results about "Flux observer" patented technology

The invention belongs to the technical field of AC motor transmission control, and relates to a permanent magnet synchronous motor dead zone compensation method based on a nonlinear flux observer. Measuring a motor induction current under a natural coordinate system, and obtaining an alpha-beta axis current through conversion; a non-linear flux observer in an alpha-beta coordinate system is used as a position observation model to obtain an actual rotor position estimation value, a rotating speed ring is formed, and sensorless control of the permanent magnet synchronous motor is achieved; constructing a q-axis voltage disturbance observer by measuring the phase voltage output by the inverter; taking the output of the q-axis disturbance observer as the input of a dead time calculation module to obtain a dead time estimation value; and according to the estimated value, calculating and obtaining a dead-zone compensation voltage, and compensating the output phase voltage of the inverter to realize dead-zone compensation. On the basis of a non-linear flux observer, a position-free control closed-loop structure is constructed, and instruction voltage is corrected, so that the influence of inverter dead time on the permanent magnet synchronous motor is reduced, and the position-free control performance is improved.

The invention discloses a permanent magnet synchronous motor control method and system based on online parameter identification, and relates to the field of motor control, and the control method comprises the steps: building a motor mathematical model of a permanent magnet synchronous motor in a static coordinate system, and the mathematical model is used for describing the relation between stator voltage and current and rotor electrical angle and electrical angular velocity; constructing a flux linkage observer, estimating a rotor flux linkage by observing the stator voltage and current, and calculating the position and speed of the rotor based on the rotor flux linkage; a recursive least square method is adopted to carry out online parameter identification, and motor parameters are updated in real time to compensate the influence of parameter changes on the control precision. According to the position-sensorless control method provided by the invention, accurate rotor position and speed estimation can be realized, and efficient control is realized. In combination with a gain adjustment and compensation method, the system can automatically adjust a control strategy according to different working conditions during motor operation, and the stability, precision and robustness of the system are improved.

The present invention relates to the field of electric drive devices and electric motors for industrial applications, and more particularly to an arrangement and a method for controlling an asynchronous motor and a frequency converter. The arrangement of the present invention for controlling an asynchronous motor (3) comprises an inverter unit (2) arranged to drive said asynchronous motor (3); a flux sensor unit (4) comprising polyphase flux sensor / sensors placed in the airgap of said asynchronous motor (3) arranged to measure the polyphase airgap flux ψ ag,a , ψ ag,b ,... ψ ag,m of the asynchronous motor (3); a flux observer (5); and polyphase current sensors (31); wherein said flux observer (5) is arranged to calculate a flux estimate [I] utilizing a received airgap flux value, at least one received stator current value and either one of a received / calculated stator voltage reference or a received stator voltage value, and wherein said flux observer (5) is used in control of said asynchronous motor (3).

An optimization method for BLDC non-inductive low-speed starting based on IF starting and flux estimation, comprising the following steps: step one: establishing a BLDC motor electrical model, and obtaining relevant parameters for building a current double closed loop model through the BLDC motor electrical model; step two: based on the simulink simulation software, building a current double closed loop model of d and q axes; step three: based on the current double closed loop model built in step two, realizing IF open loop low-speed starting and acceleration of the BLDC motor; step four: constructing a discrete nonlinear flux observer, and online estimating the flux to obtain the rotor electric angle_ref and the equivalent back electromotive force component; step five: according to the equivalent back electromotive force component, online following and correcting the open loop electric angle. The present application can realize quick and undisturbed switching from open loop starting to non-inductive closed loop control, thereby significantly improving the starting success rate and operation stability of the BLDC motor under low-speed working conditions.

The present invention discloses a bearingless motor control system based on a nine-phase inverter, which mainly includes: a nine-phase inverter, a suspension winding flux observer, a torque winding flux observer, a space vector pulse width modulation module, a force-magnetic conversion module, a bearingless motor and a regulator. The signal of the bearingless motor detected by the sensor is compared with the original given signal in the PID controller, and then the difference signal and the signal observed by the observer are jointly transmitted to the conversion module, and then through space vector pulse width modulation, the signal is then processed, and through the design of the integrated control module of the nine-phase inverter, a set of control systems is graded and modulated, and finally the torque and suspension of the bearingless motor are controlled separately. While ensuring the torque and suspension control of the bearingless motor, the present invention also reduces the complexity of the bearingless motor control system, increases the flexibility and fault tolerance of the control system, and increases the space utilization rate.

The present invention belongs to the field of AC servo systems and discloses a method and system for online identification of the rotor time constant of a sensorless induction motor based on a complex coefficient flux observer. The method comprises: estimating the rotor flux using a complex coefficient rotor flux estimator; injecting a biased sinusoidal excitation into the d-axis to obtain the rotor flux and filtered stator current along the dq axes through park transformation; online identification of the rotor time constant using a designed rotor time constant estimator based on a sliding mode observer; and estimating the stator frequency and rotor position using a phase-locked loop. The present invention decouples rotor time constant identification from rotor speed estimation, enabling parallel estimation of the two. The designed rotor flux estimator effectively suppresses DC bias and higher harmonics in back electromotive force. Compared to the traditional least squares method, the designed rotor time constant estimator based on a sliding mode observer improves the robustness of the estimation algorithm while ensuring convergence speed.

The invention provides a motor control system and a motor control method. The motor control system comprises a nonlinear flux linkage observer and a motor controller. The nonlinear flux linkage observer can determine rotor position information and speed information of the coreless motor based on the voltage and current of the coreless motor, and the motor controller can adjust the driving of the motor based on the rotor position information and speed information of the coreless motor, so that the motor control system can adjust the driving of the motor based on the voltage and current of the coreless motor. Closed-loop control is carried out on the coreless motor, and compared with an open-loop control driving motor, the driving precision and the driving efficiency can be improved. And the mode does not need a position sensor, so that the universality is high, and the mode does not need to integrate the position sensor, so that the integration of the coreless motor is facilitated.

System and method for sensorless control of an induction motor are disclosed. A flux observer estimates a rotor flux based on stator voltage and current measurement. A low frequency signal injection module generates a flux estimation error signal at low motor speed, while a baseline observer generates a model based flux estimation error signal at medium to high motor speed. A switching mechanism selects between these error signal based on motor condition. A proportional integral regulator and integrator process the selected error signal to estimate rotor speed. A lead compensator adjusts phase during transitions to ensure stability, with a switching signal generator activating the LFSI module when stator frequency falls below a predefined threshold. This control system provides rotor flux and speed estimation across a full range of motor speed by adaptively switching between observers based on operating conditions.

The invention discloses a fault-tolerant sensorless control method for a dual three-phase synchronous reluctance motor, and the method carries out the filtering of an observation flux linkage after an open-circuit fault based on a second-order generalized integrator with a frequency-locked loop, and achieves the purpose of improving the position-less control performance of the dual three-phase synchronous reluctance motor after the open-circuit fault. According to the invention, the hybrid flux linkage observer based on SOGI-FLL is adopted to carry out adaptive compensation on harmonic distortion under a single-phase open-circuit fault condition, so that the precision of flux linkage observation and rotor position estimation is improved. Compared with a traditional position-free control method, the three-time flux linkage harmonic caused by an open-circuit fault can be effectively inhibited, and the position observation precision and stability are remarkably improved. Meanwhile, high-precision position estimation can still be kept under the low-speed and zero-speed working conditions, the position-free stable operation speed range of the dual three-phase synchronous reluctance motor is expanded, and the method is suitable for high-reliability position-sensorless control application under various operation conditions such as the healthy working condition and the single-phase open-circuit fault.

The present invention belongs to the field of motor control technology, and discloses a five-phase induction motor speed sensorless vector control method, system and terminal. In the process of digitizing the full-order flux observer algorithm, the bilinear method is used to discretize the state equation of the five-phase induction motor; combining the full-order flux observer and vector control technology, a five-phase induction motor speed sensorless vector control speed regulation system is established. In view of the current domestic technical gap in the speed sensorless vector control of five-phase induction motors, the present invention establishes a five-phase induction motor speed sensorless vector control system based on the full-order flux observer and vector control technology. Experimental results show that the system has good speed regulation performance and speed identification capabilities. In addition, in order to solve the problem that the traditional Euler discretization method will produce a large discrete error, the present invention adopts a more accurate bilinear method to discretize the state equation of the five-phase induction motor, which is suitable for application scenarios with high requirements for speed regulation performance.

The invention discloses a synchronous motor control method and device. The method comprises the following steps: determining a rotor position initial value and a rotor speed initial value of a synchronous motor based on a flux observer; then determining a rotor position correction value and a rotor speed correction value based on the load torque of the synchronous motor; correcting the initial value of the rotor position and the initial value of the rotor speed according to the corrected value of the rotor position and the corrected value of the rotor speed to obtain a final value of the rotor position and a final value of the rotor speed; and finally, starting the synchronous motor based on the final value of the rotor position and the final value of the rotor speed, so that starting control can be performed on the synchronous motor more accurately and quickly, and an independent initial position identification process does not need to be performed.

The invention provides a vibration noise suppression method for a permanent magnet synchronous motor of an electric vehicle. The method comprises the following steps: establishing permanent magnet synchronous motor mathematical models under different coordinate systems; constructing a torque and flux linkage observer to obtain an electromagnetic torque estimated value and a stator flux linkage estimated value; obtaining an electromagnetic torque reference value through rotating speed loop control, and based on the electromagnetic torque reference value, introducing a cloud drift optimization algorithm to obtain a stator flux linkage reference value; obtaining a discrete system, constructing a cost function, and solving to obtain a reference voltage vector; and carrying out inverse coordinate transformation on the reference voltage vector, generating a three-phase pulse width modulation signal by adopting hybrid random space vector pulse width modulation, and sending the three-phase pulse width modulation signal to an inverter to drive the permanent magnet synchronous motor so as to realize vibration noise suppression of the permanent magnet synchronous motor. Vibration noise can be effectively suppressed, and the control performance and the operation stability of the permanent magnet synchronous motor are improved.

The invention discloses a permanent magnet synchronous motor sensorless control system based on a frequency adaptive flux observer. The method comprises the following steps: firstly, analyzing reasons of flux linkage estimation failure of a system caused by non-ideal factors and an integrator under a traditional method based on back electromotive force direct integration; dC bias brought by integration in a stator flux linkage and higher harmonics in the system are compensated by designing a frequency adaptive flux linkage observer. Then, the suppression effect of the proposed frequency self-adaptive flux observer on the direct current component and the high-frequency harmonic wave is analyzed; and finally, setting the gain of the observer through a Routh stability criterion and drawing a system bode diagram. According to the method, adverse factors caused by the integrator are effectively improved, system harmonics are suppressed, the estimation precision of the rotor angle is improved, and the robustness of the system is improved.

A kind of permanent magnet auxiliary synchronous reluctance motor rotor position estimation method based on effective flux linkage error compensation belongs to motor position sensorless control technical field.The present application is aimed at the problem that the rotor position estimation accuracy of existing hybrid flux observer is greatly influenced by motor parameter variation.It includes: the estimation of motor rotor position is realized by establishing hybrid effective flux observer;The disturbance caused by parameter mismatch of motor voltage equation is modeled, and a new state equation with effective flux linkage error and motor parameter as state variable is constructed;The effective flux linkage error caused by parameter mismatch in hybrid effective flux observer is observed by designing extended state observer based on effective flux linkage error;The effective flux linkage error caused by parameter mismatch is compensated by designing effective flux linkage error compensation method.The present application is used for motor rotor position estimation.

The invention discloses a phase-locked loop control method of a permanent magnet auxiliary synchronous reluctance motor, which belongs to the technical field of motor control, and comprises the following steps: constructing a nonlinear flux linkage observer to obtain estimated values of a shaft and a shaft flux linkage, designing a finite position set phase-locked loop based on an inverse quadratic interpolation method, carrying out differential operation on the estimated value of a rotor position, and carrying out phase-locked loop control on the rotor position. Processing a differential result through a low-pass filter to obtain a rotating speed estimated value of a rotor, and integrating a nonlinear flux observer and a finite position set phase-locked loop based on an inverse quadratic interpolation method into a motor vector control system to realize position sensorless control; according to the phase-locked loop control method of the permanent magnet auxiliary synchronous reluctance motor, parameter setting is not needed, the robustness is high, the dynamic performance is good, and an innovative solution is provided for high-performance motor driving.

The invention discloses an adjustable flux motor sensorless control system and method based on a flux observer. The system comprises an acquisition module, a Clark coordinate transformation module, a Park coordinate transformation module, a flux linkage observer, a phase-locked loop, a rotating speed loop, a q-axis current loop, a d-axis current loop, an iPark coordinate transformation module, an SVPWM module, an inverter module, a pulse counting module and a flux adjusting winding inverter. The method comprises the steps that the flux linkage error amount of the adjustable flux motor is calculated, the flux linkage estimation value of a flux linkage observer is compensated, and a flux linkage observer equation is listed and written. According to the method, the observation precision is improved, and the problems of large angle error caused by low-speed operation of the motor and phase delay caused by adoption of an inverse tangent function are solved; the calculation and compensation of inductance errors are omitted, and the influence on the system stability and the influence on the rotor position observation precision caused by the parameter change of inductance and the like due to the operation of the motor are reduced.

The present invention proposes a direct torque cooperative control method for an SMPMSM drive system that implements stator flux observation based on an improved voltage model. Compared with the prior art, this method addresses the shortcomings of direct torque control of permanent magnet synchronous motor systems, such as poor stator flux observation accuracy and torque control performance. The present invention includes the following steps: establishing SMPMSM dynamic equations based on stator magnetic field orientation; designing a stator flux observer based on an improved voltage model; implementing SMPMSM direct torque cooperative control based on the improved flux observer; and generating an inverter reference voltage that satisfies voltage constraints. This method overcomes the impact of the DC component inevitably introduced during current sampling on stator flux observation accuracy, achieving simultaneous improvements in both stator flux observation accuracy and torque control accuracy.

The invention discloses a full-order flux observer virtual voltage signal generation method based on the maximum torque current ratio, and belongs to the technical field of motor position sensorless control. The problems that the injection amplitude of an existing virtual voltage signal based on a full-order flux linkage observer is very difficult to adjust, and stable operation cannot be achieved under different load working conditions at the zero speed are solved. Comprising the following steps: constructing a full-order flux observer based on a built-in permanent magnet synchronous motor voltage equation under an estimated rotating shaft system; performing linear decoupling on the flux linkage error dynamic equation of the full-order flux linkage observer on a local point to obtain a mathematical expression relational expression between the position estimation error of the full-order flux linkage observer and the virtual voltage signal; establishing a relation between the position estimation error and the torque of the built-in permanent magnet synchronous motor; setting a position estimation error as a maximum torque current ratio angle, and calculating to obtain an injection coefficient of a virtual voltage signal; and generating a virtual voltage signal based on the injection coefficient. According to the invention, parameter tuning of the motor position observer can be realized.

The invention discloses a new energy automobile synchronous motor air-gap field oriented dead-beat current control method. According to the method, a discrete prediction model is constructed according to a rotor flux linkage equation under a complete m-t coordinate system mathematical model of the synchronous motor, and the model describes change rules of stator voltage, stator current and excitation current in discrete time; the method further comprises a comprehensive flux linkage observer suitable for the full speed domain, delay compensation is carried out on the air gap flux linkage angle through the delay compensation technology, and the digital control delay influence is reduced. In the overall control method, the stator side of the motor adopts a dead-beat predictive current control algorithm, and the rotor side adopts dead-beat predictive duty ratio control, so that the dynamic response performance of the control system is effectively improved, and the method can realize accurate excitation current tracking and rapid dynamic response under different rotating speeds and load conditions. The overall performance of the motor control system is remarkably improved, and the motor control system is particularly suitable for new energy automobiles and other application occasions with high dynamic performance requirements.

The invention discloses a method for improving a feedback matrix of a full-order flux observer of an induction motor. The method comprises the following steps: firstly, establishing an induction motor full-order flux linkage observer model based on a d-q coordinate system, and constructing a state error equation containing a stator current error and a rotor flux linkage error; secondly, deducing a constraint condition of an error feedback matrix by using a Routh-Helvitz stability criterion, designing a feedback matrix with global stability, and eliminating a power generation unstable region by introducing an adjustment coefficient; and finally, proposing a sub-speed domain improvement strategy, optimizing the parameter sensitivity by adopting a dynamic adjustment coefficient in a low-speed domain, and reducing the flux linkage observation error by adding a cross coupling term in a medium-speed domain and a high-speed domain. According to the method, an error transfer function containing rotation speed error compensation is innovatively constructed, and the full-speed-domain observation stability is remarkably improved by optimizing feedback matrix parameters in different speed domains, so that the sensitivity of an observation flux linkage to stator resistance is reduced, and the problem of instability of a traditional observer in a power generation state is effectively solved.

The invention provides a permanent magnet synchronous motor ultra-low speed control method and system based on a non-linear flux observer. The method comprises the steps of obtaining high-fidelity electromagnetic field simulation data and real-time electrical measurement data of a preset permanent magnet synchronous motor; inputting the high-fidelity electromagnetic field simulation data into a data storage unit of a preset inverse model flux linkage observer to generate a target flux linkage mapping relation; performing reverse calculation on a motor three-phase voltage signal in the real-time electrical measurement data and a current signal in the real-time electrical measurement data to generate a current flux linkage space vector; inputting the current flux linkage space vector and a preset torque instruction into a preset feed-forward compensation unit to generate a q-axis current instruction; and inputting the q-axis current instruction into a preset current loop controller so as to control the preset permanent magnet synchronous motor in the alternating process of high-speed servo start-stop and ultra-low-speed operation. According to the invention, accurate and stable control of the permanent magnet synchronous motor in the alternating process of high-speed servo start-stop and ultra-low-speed operation is realized.

The application discloses a kind of high-reliability motor improved deadbeat torque control digital implementation methods, belong to motor drive control technical field.It includes the following steps: construct stator flux oriented coordinate system, acquisition motor signal and establish five-phase fault-tolerant motor model;Full-order Luenberger current observer is constructed to carry out delay compensation and state prediction to five-phase current;Hybrid flux observer is constructed, and integral drift of voltage model is corrected by closed-loop compensation, and the amplitude and phase angle of stator flux are obtained;Deadbeat control is carried out in MT coordinate system, and the simplified linear relationship between electromagnetic torque and load angle is established, and the reference voltage vector is linearly solved;The reference voltage is transformed back to the stationary coordinate system, and the switching signal is generated by using adjacent four-vector space vector pulse width modulation to drive the motor.The application can significantly improve the control performance of five-phase motor under normal operation of control system and the system stability under parameter mismatch, and has important significance for strengthening the reliability and stability of multiphase electric drive system.

The present invention relates to a method for correcting the optimal stator current angle of a salient-pole synchronous motor. When the stator flux of the motor is changed, an improved hybrid model flux observer based on extended Kalman filtering is used to calculate the stator flux to achieve iterative correction of the optimal stator current angle calculation formula. When the rotor flux of the motor is changed, an FFRLS-based rotor flux online identification algorithm is used to calculate #imgabs0# to achieve the optimal stator current angle. The stator flux observer and the rotor excitation flux observer are used to estimate the stator flux and the rotor excitation flux, and the optimal stator current angle is brought in for iteration to achieve optimized maximum torque-to-current ratio control of the salient-pole synchronous motor under strong magnetic field saturation. The estimated flux is used to form an iterative optimization correction of the flux to achieve the purpose of correcting the optimal stator current angle, and then the optimized given current is calculated, which reduces the stator current and copper loss of the motor, alleviates the heat dissipation burden, and thus improves the cruising range of the electric aircraft.

The invention discloses a brushless motor control method applied to a vehicle-mounted blower, and the method comprises the steps: building a mathematical model of a static coordinate system of a permanent magnet synchronous motor, and obtaining a more precise rotor and stator flux linkage through an improved self-adaptive integral flux linkage observer based on active disturbance rejection control; the invention aims to design a permanent magnet synchronous motor rotor position estimation method based on high-order extended Kalman filtering, provides a permanent magnet synchronous motor rotor position estimation method based on high-order extended Kalman filtering, and aims to solve the problems that a traditional extended Kalman filter (EKF) discards high-order term information in a linearization process, so that model information is lost and estimation errors are increased. According to the high-order extended Kalman filtering, discarded Taylor high-order remainder terms are brought into a state estimation process, high-order remainder term information is identified by using a least square method, and an identification result is re-integrated into a prediction and updating step, so that the problem that the rotor position estimation precision of a permanent magnet synchronous motor (PMSM) is reduced due to an EKF linear rounding error is effectively solved.

The invention discloses a vertical movement control system suitable for fast growing crop surface flux monitoring, which comprises a bottom plate and a tripod, a vertical rod, a support column and a rack column are fixedly connected above the bottom plate, the vertical rod is slidably connected with a connecting block, the side surface of the connecting block is fixedly connected with a sliding box, and the side surface of the sliding box is fixedly connected with a flux observer. An output motor is arranged in the sliding box, the output end of the output motor is fixedly connected with a worm, the height change of crops such as corn and sugarcane is monitored in real time through the laser radar, the control system can synchronously drive the transmission mechanism and the gear set to be matched with the sliding rail, and automatic vertical adjustment of the observation cross arm is achieved; the laser radar transmits height data to the control system, the trigger motor drives the gear to rotate, the observation cross arm moves upwards by a corresponding distance along the sliding rail through gear meshing transmission, it is ensured that the observation height is always kept in the optimal flux contribution area above the crop canopy, and the space-time continuity and representativeness of water-carbon flux data are guaranteed.

The invention discloses an induction motor sensorless control method based on rotor back electromotive force observation, and belongs to the technical field of power generation, power transformation or power distribution. The crucial rotor back electromotive force can be calculated in one sampling period, and no integral and differential operation is involved, so that the problems of integral initial value, error accumulation, differential noise and the like in a traditional flux observer are solved. The invention respectively provides an alpha-beta coordinate system rotor back electromotive force observation method, a d-q coordinate system rotor back electromotive force observation method and a corresponding rotor rotating speed extraction scheme, the simplest method only needs to calculate the d-axis rotor back electromotive force, and the requirement on the performance of a processor is greatly reduced. In addition, the invention further provides a sensorless control method for low-speed operation, and the sensorless control of the full speed domain can be achieved by combining the sensorless control method. When the method is used for sensorless control of the induction motor, the operation complexity of a control system can be effectively reduced, and good dynamic performance and steady-state precision are achieved.

An asynchronous motor control method and control system based on ESO rotor flux observation, the method: by establishing the stator current and rotor flux state equations of the squirrel cage asynchronous motor in a stationary coordinate system; constructing the stator current estimation extended state equation; constructing the ESO rotor flux observer on the basis of the rotor flux state equation and the constructed stator current estimation extended state equation, after obtaining the rotor flux estimation component by using the obtained ESO rotor flux observer, obtaining the rotor flux phase information by inverse tangent transformation, and feeding it back to the system to form a closed-loop control, using the rotor flux voltage model as a reference model and the ESO rotor flux observer as an adjustable model to complete the construction of the speed estimator; the system includes a controller module, a pulse width modulation module, a rotor flux observer module, a voltage model module and a rotor speed estimator module. The present invention can simplify the design structure of the extended state observer and improve the control accuracy.

The application discloses a permanent magnet synchronous motor flux linkage observer parameter compensation method based on an improved hybrid beluga optimization algorithm, proposes a customized improved HBWO algorithm for a flux linkage observation scene, and realizes 3-dimensional compensation factors through the algorithm. Firstly, the harmonic compensation factor is used for harmonic cancellation of the shaft voltage signal, and high-frequency interference in the electric signal is suppressed. Secondly, the resistance compensation factor is used for dynamic correction of the stator resistance parameter, and resistance drift caused by motor temperature change is adapted. Thirdly, the inductance compensation factor is used for real-time updating of the stator inductance parameter, and inductance change caused by load fluctuation is matched. The optimization factor is embedded into an error preprocessing link and a parameter correction link of the flux linkage observer, noise reduction of the observer input signal and adaptive updating of core parameters are realized. Compared with the prior art, the application effectively improves the precision and stability of the flux linkage observer, and is suitable for high-precision control scenes of the permanent magnet synchronous motor under the conditions of medium and high speed and variable load.

The invention relates to a flux linkage observer-based position acquisition method and a motor driver. The method comprises the following steps: randomly selecting two phases from a three-phase stator winding for multiple times, respectively applying a positive voltage pulse and a negative voltage pulse to the two phases, and sampling phase current after each pulse is ended; taking the position corresponding to the maximum current value in the phase current as the initial position of the rotor; obtaining a current position correlation value determined based on the flux linkage observer; adjusting based on a position difference value between the initial position and the current position correlation value to obtain a current observation position of the motor; and performing non-inductive field directional control of the motor based on the current observation position. By adopting the method, the problem of reverse rotation of the non-inductive motor during starting can be avoided.

The present disclosure discloses a controller and a method for controlling an electric motor. The controller comprises a feedback controller configured to generate a reference voltage vector, a hybrid flux observer configured to estimate a flux error vector based on a difference between a first stator flux linkage observed and a second stator flux linkage, and a position observer configured to estimate a position of a rotor of the electric motor based on a projection of the flux error vector in a direction orthogonal to a direction of a voltage error vector shifted with a phase of dynamics of the hybrid flux observer. The controller further comprises a state estimator configured to estimate a value of a state of operation of the electric motor based on the estimated position of the rotor, thereby closing a feedback control loop of the feedback controller.