volume | PIER Journals

Abstract

To address the inherent chattering issue in traditional sliding mode observers for the sensorless control of permanent magnet synchronous motors, an improved strategy combining a Fuzzy Adaptive Higher-order Sliding Mode Observer (HAFSMO) and a composite logarithmic sliding mode locked loop (EDS-PLL) is proposed. First, a higher-order adaptive sliding mode observer is designed, in which an exponential saturation smoothing function (ESSF) replaces the traditional sign function, and fuzzy control is employed to dynamically adjust the boundary layer parameters, enabling a smooth estimation and convergence of the back electromotive force within a finite time. Second, in the phase-locked loop stage, the exponential saturation smoothing function is integrated with the composite logarithmic sliding mode control to construct a composite logarithmic sliding mode phase-locked loop, further enhancing the accuracy of the rotor position observation. Finally, a simulation model was built on the MATLAB/Simulink platform for verification. Both the simulation and experimental results demonstrate that this method effectively suppresses system chattering and improves the accuracy of rotor position observation and overall system performance, thereby validating the effectiveness of the proposed sensorless control strategy.

1. Sreenivasu, S. V. N., T. Sathesh Kumar, Omer Bin Hussain, Ajay Reddy Yeruva, Subash Ranjan Kabat, and Abhay Chaturvedi, "Cloud based electric vehicle's temperature monitoring system using IOT," Cybernetics and Systems, Vol. 56, No. 6, 768-783, 2025.
doi:10.1080/01969722.2023.2176649 Google Scholar

2. Peng, Yang, Fuwang Chen, Feng Chen, Chaoxian Wu, Qingyuan Wang, Zhixin He, and Shaofeng Lu, "Energy-efficient train control: A comparative study based on permanent magnet synchronous motor and induction motor," IEEE Transactions on Vehicular Technology, Vol. 73, No. 11, 16148-16159, 2024.
doi:10.1109/tvt.2024.3412941 Google Scholar

3. Wang, Shuai, Jianyong Su, Guangxu Lu, and Guijie Yang, "Decoupling control for aviation dual-redundancy permanent magnet synchronous motor with 0° phase shift," IEEE Transactions on Energy Conversion, Vol. 38, No. 4, 2929-2937, 2023.
doi:10.1109/tec.2023.3291169 Google Scholar

4. Jin, Xinrong, Leifu Zhou, Tingting Lang, and Yanbing Jiang, "Low-voltage water pump system based on permanent magnet synchronous motor," Electronics, Vol. 13, No. 18, 3674, 2024.
doi:10.3390/electronics13183674 Google Scholar

5. Ran, Yukuan, Mingzhong Qiao, Lucheng Sun, and Yihui Xia, "Review of position sensorless control technology for permanent magnet synchronous motors," Energies, Vol. 18, No. 9, 2302, 2025.
doi:10.3390/en18092302 Google Scholar

6. Zhang, Hang, Weiguo Liu, Zhe Chen, and Ningfei Jiao, "An overall system delay compensation method for IPMSM sensorless drives in rail transit applications," IEEE Transactions on Power Electronics, Vol. 36, No. 2, 1316-1329, 2021.
doi:10.1109/tpel.2020.3015742 Google Scholar

7. Sun, Xiaodong, Yao Zhang, Xiang Tian, Junhao Cao, and Jianguo Zhu, "Speed sensorless control for IPMSMs using a modified MRAS with gray wolf optimization algorithm," IEEE Transactions on Transportation Electrification, Vol. 8, No. 1, 1326-1337, 2022.
doi:10.1109/tte.2021.3093580 Google Scholar

8. Ye, Shuaichen and Xiaoxian Yao, "An enhanced SMO-based permanent-magnet synchronous machine sensorless drive scheme with current measurement error compensation," IEEE Journal of Emerging and Selected Topics in Power Electronics, Vol. 9, No. 4, 4407-4419, 2021.
doi:10.1109/jestpe.2020.3038859 Google Scholar

9. Niu, Hongjie, Ling Liu, Dongsong Jin, and Siyuan Liu, "High-tracking-precision sensorless control of PMSM system based on fractional order model reference adaptation," Fractal and Fractional, Vol. 7, No. 1, 21, 2023.
doi:10.3390/fractalfract7010021 Google Scholar

10. Kong, Xiaoguang and Quan Yuan, "Disturbance-rejection control of permanent magnet synchronous motors using robust adaptive extended Kalman filter," IEICE Electronics Express, Vol. 22, No. 18, 20250397, 2025.
doi:10.1587/elex.22.20250397 Google Scholar

11. Yang, Hao, Jing-Wei Tang, and Ying-Ren Chien, "Application of new sliding mode control in vector control of PMSM," IEICE Electronics Express, Vol. 19, No. 13, 20220156, 2022.
doi:10.1587/elex.19.20220156 Google Scholar

12. Wang, Yongwei, Jingbo Wu, Zhijun Guo, Chengwei Xie, Junjie Liu, and Xin Jin, "Flux-weakening fuzzy adaptive ST-SMO sensorless control algorithm for PMSM in EV," The Journal of Supercomputing, Vol. 78, No. 8, 10930-10949, 2022.
doi:10.1007/s11227-021-04264-8 Google Scholar

13. Ren, Ningning, Le Fan, and Zan Zhang, "Sensorless PMSM control with sliding mode observer based on sigmoid function," Journal of Electrical Engineering & Technology, Vol. 16, No. 2, 933-939, 2021.
doi:10.1007/s42835-021-00661-4 Google Scholar

14. Wang, Deqiang and Xudong Liu, "Sensorless control of PMSM with improved adaptive super-twisting sliding mode observer and IST-QSG," IEEE Transactions on Transportation Electrification, Vol. 11, No. 1, 721-731, 2025.
doi:10.1109/tte.2024.3395318 Google Scholar

15. Song, Chonghui, Wenbing Hu, Jiayan Zhang, Chunwang Zhao, and Xianrui Sun, "A gain adaptive high-order terminal sliding mode observer under SPMSM sensorless control," IEEE Transactions on Power Electronics, Vol. 40, No. 5, 6555-6565, 2025.
doi:10.1109/tpel.2025.3525550 Google Scholar

16. Gong, Chao, Yihua Hu, Jinqiu Gao, Yangang Wang, and Liming Yan, "An improved delay-suppressed sliding-mode observer for sensorless vector-controlled PMSM," IEEE Transactions on Industrial Electronics, Vol. 67, No. 7, 5913-5923, 2020.
doi:10.1109/tie.2019.2952824 Google Scholar

17. Yu, Mingzhi and Zhonggen Wang, "Sensorless control of permanent magnet synchronous motors based on composite nonlinear functions and ESO-PLLs," Electrical Engineering, Vol. 108, No. 1, 46, 2026.
doi:10.1007/s00202-025-03432-w Google Scholar

18. Yao, Guozhong, Xianxiang Wang, Zhengjiang Wang, and Yuhan Xiao, "Senseless control of permanent magnet synchronous motors based on new fuzzy adaptive sliding mode observer," Electronics, Vol. 12, No. 15, 3266, 2023.
doi:10.3390/electronics12153266 Google Scholar

19. Liu, Xin, Zhiwei Wang, Wenzhuo Wang, Yunling Lv, Bo Yuan, Shijie Wang, Wujing Li, Qiufang Li, Qiwen Zhang, and Qianchang Chen, "SMO-based sensorless control of a permanent magnet synchronous motor," Frontiers in Energy Research, Vol. 10, 839329, 2022.
doi:10.3389/fenrg.2022.839329 Google Scholar

20. Wang, Dongheng, Bingqiang Li, and Yiyun Zhao, "An adaptive SMO approach for low-chattering sensorless control of PMSM," IEEE Transactions on Power Electronics, Vol. 40, No. 10, 15329-15338, 2025.
doi:10.1109/tpel.2025.3535457 Google Scholar

21. Li, Yingjie and Xudong Liu, "Sensorless control of permanent magnet synchronous motor based on high-order sliding mode observer and improved PLL," Journal of Electrical Engineering, Vol. 18, No. 4, 96-105, 2023.
doi:10.11985/2023.04.011 Google Scholar

22. Li, Haiqun, Pengfei Zhi, Haifeng Wei, Yi Zhang, and Wanlu Zhu, "Research on sensorless control for permanent magnet synchronous motor based on ESO-PLL," 2025 44th Chinese Control Conference (CCC), Chongqing, China, Jul. 2025.
doi:10.23919/CCC64809.2025.11179464

23. Zou, Xinhong, Hongchang Ding, and Jinhong Li, "Sensorless control strategy of permanent magnet synchronous motor based on adaptive super-twisting algorithm sliding mode observer," Journal of Control, Automation and Electrical Systems, Vol. 35, No. 1, 163-179, 2024.
doi:10.1007/s40313-023-01054-w Google Scholar

Mr. Zhuang Qiu

Professor Zhonggen Wang

Professor Wenyan Nie