Sensorless Control of Permanent Magnet Synchronous Motor Based on Limit Cycle Flux Observer and Iterative Phase-locked Loop

CHEN Shuo; WU Xiang; DING Wen; YUAN Xibo; LYU Dexu; BIAN Xiaoliang; YANG Hao

doi:10.13334/j.0258-8013.pcsee.250103

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Sensorless Control of Permanent Magnet Synchronous Motor Based on Limit Cycle Flux Observer and Iterative Phase-locked Loop

更新时间：2026-10-05

- Sensorless Control of Permanent Magnet Synchronous Motor Based on Limit Cycle Flux Observer and Iterative Phase-locked Loop
- Vol. 46, Issue 12, Pages: 5130-5144(2026)
- 作者机构：
  
  1. 1 中国矿业大学电气工程学院,江苏省,徐州市,221000
  2. 2 同济大学国家磁浮交通工程技术研究中心，上海市嘉定区,201804
  3. 3 西安交通大学电气工程学院,陕西省,西安市,710049
- 作者简介：
- 基金信息：
- DOI：10.13334/j.0258-8013.pcsee.250103
  CLC：
- Published：2026
- 稿件说明：
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CHEN Shuo, WU Xiang, DING Wen, et al. Sensorless Control of Permanent Magnet Synchronous Motor Based on Limit Cycle Flux Observer and Iterative Phase-locked Loop[J]. 2026, 46(12): 5130-5144.
DOI：

CHEN Shuo, WU Xiang, DING Wen, et al. Sensorless Control of Permanent Magnet Synchronous Motor Based on Limit Cycle Flux Observer and Iterative Phase-locked Loop[J]. 2026, 46(12): 5130-5144. DOI： 10.13334/j.0258-8013.pcsee.250103.

摘要

基于电压模型的转子磁链观测器与正交锁相环的组合控制方案已广泛应用于永磁同步电机无位置传感器驱动系统，但此类方案易受积分漂移、直流偏置与动态追踪误差的影响。针对上述问题，提出一种基于极限环磁链观测器与迭代锁相环的无位置传感器控制方案。首先，基于非线性极限环振荡器设计转子磁链观测器，设计反电动势极限环系统的唯一闭合轨迹，实现电机转子磁链信息的精准观测，从而避免传统磁链观测器易受积分漂移或相位滞后的问题，并抑制直流偏置对磁链观测精度的影响；其次，设计一种新型迭代锁相环，通过转子磁链信号分区设定迭代初值补偿角，基于牛顿(Newton)迭代原理设计迭代运算过程，通过4次迭代运算实现高精度的转子位置观测，提高无位置传感器控制的动态响应能力；最后，基于永磁同步电机实验平台，验证所提控制方案的有效性。

Abstract

The control scheme based on voltage model-based rotor flux observer and quadrature phase-locked loop has been extensively applied for permanent magnet synchronous motor (PMSM) sensorless drive systems. However

such scheme is susceptible to integral drift

DC bias and dynamic tracking error. Aiming at that

the sensorless control scheme based on limit cycle flux observer and iterative phase-locked loop is proposed. Firstly

the rotor flux observer is designed based on the nonlinear limit cycle oscillator. The unique closed trajectory of back electromotive forces is designed to achieve the accurate observation of rotor flux signals

thereby avoiding the integral drift or phase lag in the traditional flux observers and suppressing the influence of DC bias on flux observation. Moreover

a novel iterative phase-locked loop is further designed

which sets the initial compensation angle for iterative initial value by partitioning the estimated rotor flux signals. Based on the Newton iteration principle

an iterative operation process was designed to achieve the high-precision position observation through four iterations

improving the dynamic response of sensorless control. Finally

the effectiveness of the proposed control scheme is verified based on the PMSM drive platform.

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