IPMSM Flux and Rotor Position Observation Scheme Based on Third-order Generalized Integrator and Moving Average Filter

YAO Nan; YANG Shuying; FANG Jiayu; ZHANG Xing

doi:10.13334/j.0258-8013.pcsee.242739

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IPMSM Flux and Rotor Position Observation Scheme Based on Third-order Generalized Integrator and Moving Average Filter

更新时间：2026-10-12

- IPMSM Flux and Rotor Position Observation Scheme Based on Third-order Generalized Integrator and Moving Average Filter
- Vol. 46, Issue 2, Pages: 756-767(2026)
- 作者机构：
  
  合肥工业大学电气与自动化工程学院,安徽省,合肥市,230009
- 作者简介：
- 基金信息：
- DOI：10.13334/j.0258-8013.pcsee.242739
  CLC：
- Published：2026
- 稿件说明：
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YAO Nan, YANG Shuying, FANG Jiayu, et al. IPMSM Flux and Rotor Position Observation Scheme Based on Third-order Generalized Integrator and Moving Average Filter[J]. 2026, 46(2): 756-767.
DOI：

YAO Nan, YANG Shuying, FANG Jiayu, et al. IPMSM Flux and Rotor Position Observation Scheme Based on Third-order Generalized Integrator and Moving Average Filter[J]. 2026, 46(2): 756-767. DOI： 10.13334/j.0258-8013.pcsee.242739.

摘要

高精度的磁链信息是实现永磁同步电机无位置传感器控制性能的关键。对反电动势(electromotive force，EMF)积分可以获得磁链，但直接积分运算存在直流偏置和积分初始值的问题，低通滤波器近似积分运算误差较大，二阶广义积分器-锁频环(second-order generalized integrator-frequency- locked loop，SOGI-FLL)有着较好的积分性能，但EMF中存在的直流偏置、谐波和数字化实现过程中的离散化误差会使得FLL估计的同步角频率出现偏差，且在速度变化的动态过程中偏差问题更为严重，影响磁链和转子位置估计精度。为此，该文提出一种基于三阶广义积分器(third-order generalized integrator，TOGI)和滑动平均滤波器(moving average filter，MAF)的磁链观测算法。TOGI能很好地抑制EMF中存在的直流偏置和高阶谐波，MAF进一步消除输出磁链中的奇数次谐波和频率耦合分量，进而提升磁链和转子位置的估计精度，同时，给出了相角偏移误差的补偿算法。理论分析和实验验证表明，所提磁链观测方案能够在3%额定转速以上速度范围内对磁链和转子位置进行较为精确地估计。

Abstract

Accurate flux linkage information is crucial for achieving high sensorless control performance in interior permanent magnet synchronous motors. The integration of back electromotive force (EMF) can yield flux linkage; nevertheless

direct integration suffers from issues such as DC bias and incorrect initial integral value. Additionally

the approximation error associated with low-pass filters is significant

whereas the second-order generalized integrator- frequency-locked loop (SOGI-FLL) exhibits superior integration performance. However

DC bias and harmonics in EMF and discretization errors during digitization can lead to biased estimates of synchronous angular frequency in FLLs. This deviation problem becomes more pronounced during speed changes

adversely affecting the accuracy of flux and rotor position estimation. This paper proposes a flux observation algorithm utilizing a third-order generalized integrator (TOGI) combined with a moving average filter (MAF). TOGI effectively mitigates DC bias and high-order harmonics in EMF

and MAF further eliminates the odd harmonics and frequency coupling components in the output flux

thereby improving the estimation accuracy of the flux and rotor position. Simultaneously

the compensation algorithm for phase angle deviation is presented. Theoretical analysis alongside experimental validation demonstrates that the proposed flux observation scheme accurately estimates flux and rotor position over the range of 3% to 100% of the rated speed.

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