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Adaptive sliding mode observer-differentiator for position and speed

estimation of Permanet Magnet Synchronous Motor

Conference Paper · September 2012

DOI: 10.1109/SLED.2012.6422799

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 Adaptive sliding mode observer-differentiator for
position and speed estimation of Permanent Magnet
Synchronous Motor
Alaa HIJAZI
Laboratoire Ampère, UMR CNRS 5005
Université de Lyon, INSA-Lyon
Bât Léonard de Vinci. 21 Avenue Jean Capelle
alaa.hijazi@insa-lyon.fr
Xuefang LIN SHI
Laboratoire Ampère, UMR CNRS 5005
Université de Lyon, INSA-Lyon
Bât Lèonard de Vinci. 21 Avenue Jean Capelle
Xuefang.shi@insa-lyon.fr
Abstract—In this paper, A supertwisting adaptive sliding mode
observer – differentiator is proposed to estimate the speed and
position of synchronous motor. Experimental tests have been
carried out on a test bench and show the pertinence of the
proposed scheme.
Keywords-component; Motor drives, AC motors , Sensorless
control, Observer, State estimation, Non linear systems, Sliding
mode control,Stability,
I. INTRODUCTION
Due to their high efficiency and power density, Permanent
Magnet Synchronous Motors (PMSM) are more and more used
in industrial applications. Because of the high cost and weak
reliability of speed and position sensor, sensorless control had
becoming an interest subject for both research and industrial
projects.
Sensorless control could be classified into two families:
those which depend on the model by using estimators or
observers and other ones which are based on signal injection
methods exploiting the saliency of the machine; and by
consequence couldn’t be used in case of non-salient motor, to
get the speed and position of the motor.
In literature, different techniques were proposed to estimate
the speed and position of non-salient PMSM. In [1], a high
voltage and high frequency signal was injected in order to
amplify the small d-q impedance difference existing in non-
salient PMSM. This method cause undesirable effect such as
losses and noises. Luenberger observer was used in [2] [3] [4]
to estimates both the speed and the position of PMSM. In [5],
a linearized feedback is used, which makes the system linear
and help for the design of an observer using the classical
Luenberger techniques. The Kalman filter is the choice of
many works [6] [7] [8]. The KF algorithm is well known for
Alois ZGORSKI
SAGEM DEFENSE SECURITE
95, Route de Montélier
26002 Valence, France
alois.zgorski@sagem.com
Lilia SIDHOM
Laboratoire Ampère, UMR CNRS 5005
Université de Lyon, INSA-Lyon
Bât Saint Exupery. 21 Avenue Jean Capelle
lilia.sidhom@insa-lyon.fr
its convergence rate and by consequence its dynamic
performance. The main drawback of this algorithm is its long
computation time and the hard initialization process [6].
These algorithms are based on linear theory and fail to deal
with the nonlinear aspects of the motors. Among all nonlinear
observation algorithms, sliding mode observers offer an
excellent compromise between complexity, dynamic and static
performances. These observers are widely used because of
their robustness toward unknown inputs in addition to the finite
time convergence of estimated state vectors to real ones.
Sliding mode observers are widely used in sensorless motor
applications [9] [10] [11]. Advantages of these types of
observers are put in evidence via different experimental tests
showing the robustness of observers towards perturbation.
A second order sliding observer is used in [12], with proper
adjustment of observer parameters, these observers give good
results in case of mono-frequency signals. Changing the
frequency of the signal to be observed, such as changing the
speed of the motor, affects the performance of observers [13]
and demand to readjust the parameters of observers.
In this paper, we propose an adaptive version of
supertwistng algorithm in order to estimate the position of the
motor. The speed of the motor is obtained by the derivation of
the motor position via a robust derivation algorithm exploring
the same concept of adaptive supertwisting algorithm. The
paper is organized as following: In section II, the theoretical
study of the observer and differentiator is presented. In section
III, experimental results will be illustrated to validate the
proposed control scheme.
 II. THEORITICAL STUDY Given and equal to:
A. Model of the motor a e f sin( )
{ (3)
The usual mathematical model of the non-salient motor in b e f
cos ( )
the fixed reference (α,β) is given by following system of
equations: Our goal is to estimate these two terms in the equation (1) in
order to extract the position of the motor. The structure of the
position observer is given by the following equations:
dα
α s α s e f sin( )
dt d ̂α α s α
dβ ̂α
β s β s e f cos( ) (1) dt s s
dt (4)
d d ̂β β s β
(cos( ) sin( ) α ) f ̂β
{ dt f β
{ dt s s

where , , and are respectively the stator voltages Where ̂ (i α) and ̂ (i β) are equal to:
and currents in the reference frame, and are the
̂i αi ∫ sgn(ei ) |ei | sgn(ei ) i ei (5)
stator resistance and inductance, is the flux of the permanent i
magnet, is the inertia of the rotor, is the number of pole
pairs, f is the viscous friction coefficient, is a torque applied The error term ( ) is equal to the difference between the
on the motor, is the electrical position, is the electrical measured ( ) and observed ( ̂) values. , are the adaptive
speed and is the mechanical speed of the rotor. gain and is a constant value which must be chosen to insure
The fem and are equal to : the stability of the observer.
eα e f sin( ) Without adaptation, the performances of the observer are
{ (2)
eβ e f
cos( ) closely depending on the signal frequency spectrum and on the
parameters and . These parameters must be adapted
function of the error terms ( ) in order to get better results.
B. Position Observability of the motor
Based on Lyapunov theory, we can deduce that in order to
Considering the state vector composed of the stator current
insure the stability of the observer, the parameter α and β
( ) and the EMF ( ) in ( ) reference frame. The could be chosen so that [14] :
state space representation of the motor is given by :

s
̇ [αi̇ ̇ i ] [∫ sgn(ei ) |ei | sgn(ei ) ] ei (6)
α
| s s | | s |
̇
ẋ || ||
β s
x | | Where is a symmetric positive-definite matrix.
eα̇ s s | s|
β
| |
eβ̇ we The position of the motor ̂ is deduced based on this equation:
we
̂
y | |x ̂ ( ) (7)
{ ̂

We can deduce from the calculation of observation matrix,

which is equal to [ ], that it is full rank
and by consequence the system is observable. Based on (2),
we can deduce that the position of the motor is observable if
the speed is non-zero.
C. Adaptive supertwisting observer (ASTO)
Our goal in this paragraph is to synthetize an observer able to
estimate the position of the motor with good accuracy. Sliding
mode observers are our choice for their robustness and
excellent performances.

Fig. 1 : Adaptive Supertwisting differentiator.

Fig. 2 : Test bench.

Table 1. Parameters of the PMSM.

D. Adaptive supertwisting deferentiator (ASTD) Rated torque 5 Nm
Rated speed 3000 rpm
To obtain the speed from the observed position, we propose Rated voltage 540 V
the adaptive supertwisting differentiator that has a similar Rs 2.06 Ω
structure than the position observer and solve by consequence
Ls 9.15 mH
the problem of the necessity to change the differentiator gain
at each time the frequency spectrum of the input signal φf 290 mWb
changes. The structure of this differentiator is shown in fig 1. Number of pair poles 3
The adaptive supertwisting algorithm is formed by the
association of (5) and (6). So the derivative u of signal f(t) is
equal to :

u α ∫ sgn(e) |e| sgn(e) e (8)

Where e is equal to :

e ∫ u dt f(t) (9)

The gain and are adapted based on the same law presented
by (6).
III. EXPERIMENTAL RESULTS
Our approach was validated via a test bench (fig 2) which
consists of a synchronous motor controlled by a 15 kW Fig. 3 : Control scheme
commercial inverter via Dspace ds1104 controller board.
Different mechanical and electrical measurements are
available. A 4096-pulse incremental encoder is used only for
comparison with observer. On the other side, currents were
measured using three LEM current sensors (LEM LA 100P).
The characteristic of the motors are given in table I.
The control algorithm (fig. 3) is performed by a dSpace
dS1104 controller board, using Simulink and the Real-time
workshop toolbox of MATLAB.

In order to examine the performance of the feedback loop

(controller-observer), two tests have been applied.
In the first test, different step signal was applied to the speed
reference. In fig 4, we present the observed and measured
rotation angle function of the time.

As we can see, the observed angle converges toward the

measured one. The performance is not affected by speed
variation which proves the importance of adaptation of
supertwisting algorithm parameters. The stability on the
observer is insured under large variation.
Fig 4. Observed (tetae) and measured (teta) angle.
In fig 5, the speed of the motor is represented function of the
time. The observed value converges toward the measured one
very quickly with no static error and with excellent dynamic
performance. The stability of the differentiator is proved also
under large speed variation.

In the second test, the performance of the system under load

variation is examined. In fig 6, a step load variation is applied
when the speed of the system is 800 tr/min. As we can see, the
observed speed converges very quickly to the measured one
with no oscillation and without static error. The speed
converges to the reference speed which was equal to 800
tr/min in this test.
From these tests, we can conclude that both the observer and
differentiator are stable under input and output variation.

IV. CONCLUSION Fig 5. Observed (wr) and measured (wre) speed.

In this paper, the problem of position and speed PMSM

observation is studied. We have proposed an adaptive
supertwisting observer which has the advantage to be robust
with excellent dynamic performance. The adaptability of
observer gains resolve the drawback of sliding mode observers
that requires changing the gain parameters at each time the
spectrum frequency of the signal is changed. Based on the
same concept, an adaptive supertwisting differentiator is
proposed to obtain the estimation of the speed from the
position. Experimental tests have showed the relevance of
adopted approach. Further works could concentrate on the
application of our method in case of zero speed application.

Fig 6. Observed (wr) and measured (wre) speed with load variation.

.
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