To address the phase shift and motor parameter dependency issues in rotor position estimation for permanent magnet synchronous motor(PMSM)using low-cost Hall effect sensors

a position estimation algorithm was proposed based on a dual-input dual-output filter phase-locked loop(D-Filter-PLL)structure. This architecture is independent of motor parameters and achieves near-zero phase shift in position estimation. First

a coordinate transformation method for Hall signals was proposed by analyzing the triggering mechanism of Hall signals. A dual-input dual-output filter was employed to suppress high-order harmonics in Hall position signals. The phase-locked loop(PLL)technology was used to accurately estimate rotor position and mechanical speed. Furthermore

an online parameter self-tuning method for the D-Filter-PLL structure was developed to enhance dynamic adaptability. Experimental validation demonstrates effectiveness of the proposed method. The results show that the proposed method has higher position estimation accuracy

smaller Hall position vectors and current harmonic.