Sensorless control strategy of high-speed maglev train based on multi-resonant extended state observer

SANG Hongyun; ZHANG Ruihua; ZHU Jinquan; GE Qiongxuan; LI Yaohua

doi:10.15938/j.emc.2026.02.005

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Sensorless control strategy of high-speed maglev train based on multi-resonant extended state observer

更新时间：2026-04-08

- Sensorless control strategy of high-speed maglev train based on multi-resonant extended state observer
- Vol. 30, Issue 2, Pages: 49-60(2026)
- 作者机构：
  
  2. 中国科学院电工研究所,高密度电磁动力与系统全国重点实验室,北京,100190
- 作者简介：
- 基金信息：
- DOI：10.15938/j.emc.2026.02.005
  CLC： TM341
- Published：2026
- 稿件说明：
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SANG Hongyun, ZHANG Ruihua, ZHU Jinquan, et al. Sensorless control strategy of high-speed maglev train based on multi-resonant extended state observer[J]. 2026, 30(2): 49-60.
DOI：

SANG Hongyun, ZHANG Ruihua, ZHU Jinquan, et al. Sensorless control strategy of high-speed maglev train based on multi-resonant extended state observer[J]. 2026, 30(2): 49-60. DOI： 10.15938/j.emc.2026.02.005.

摘要

逆变器非线性、电机齿槽效应及电流传感器温漂会导致无位置传感器的观测反电动势中存在直流偏差与5、7次谐波

严重影响高速磁悬浮列车的控制性能。为此

提出一种基于多谐振扩张状态观测器(MRESO)的无位置传感器控制策略

旨在抑制直流偏差及5、7次谐波的影响。首先

分析谐波对无位置传感器的影响机理

基于基波反电动势动态模型提出谐振扩张状态观测器(RESO)

以准确观测基波反电动势并抑制直流偏差的影响。然后

为增强RESO低速时对5、7次谐波的抑制能力

进一步提出采用多谐振控制器并联结构的MRESO。硬件在环实验结果表明

所提无位置传感器控制策略可有效抑制观测反电动势中的直流偏差及5、7次谐波

显著提升观测角度精度

实现高速磁悬浮列车10～600 km/h的无位置传感器闭环运行。

Abstract

Nonlinearity of inverters

cogging effect of motors and temperature drift of current sensors lead to DC offset and 5th/7th harmonics in the observed back electromotive force of sensorless control systems

which seriously degrade the control performance of high-speed maglev trains. To address this issue

a sensorless control strategy based on the multi-resonant extended state observer(MRESO)was proposed for suppressing the impacts of DC offset and the 5th/7th harmonics. First

the influence mechanism of harmonics on sensorless control was analyzed

and a resonant extended state observer(RESO)was developed on the basis of the fundamental back electromotive force dynamic model to accurately observe the fundamental back electromotive force and suppress the effect of DC offset. Then

to enhance the suppression capability of RESO against the 5th and 7th harmonics at low speeds

the MRESO with a parallel structure of multi-resonant controllers was further proposed. Hardware-in-the-loop experimental results show that the proposed sensorless control strategy can effectively suppress the DC offset and the 5th/7th harmonics in the observed back electromotive force

significantly improve the accuracy of the observed angle

and realize the closed-loop sensorless operation of high-speed maglev trains in the speed range from 10 to 600 km/h.

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