4th International Conference on Electrical Engineering (ICEE 2015)

IGEE, Boumerdes, December 13th -15th, 2015

A Robust Sensorless SMC of PMSM based on

Sliding Mode Observer and Extended Kalman Filter
L. Saihi, A. Bouhenna, M. Chenafa, A . Mansouri
E.N.P.dOran, Department of Electrical Engineering
Laboratory of Automation and Systems Analysis
BP 1523 EL-Mnaouer 31000 Oran Algrie
e-mail: sadysaihi@live.fr
Abstract This paper is intended to compare and study the
operation of two methods for estimating the position and speed of
the rotor salient pole synchronous system in a sliding mode
control motor. The first method is a sliding mode observer. The
error between the measured currents and estimated currents is
used to construct sliding mode surfaces so that after sliding mode
happens, the estimated speed values are driven to converge to
real ones exponentially. The second method consist on the
estimation of the rotor flux position and rotor speed based on
EKF for sensorless PMSM drives. These estimated values are
feed-backed to the current loop of PMSM drive for vector
control. The simulation results show the effectiveness of the
extended Kalman filter are characterized by a very small
estimation error for different rotational speeds (high speed, low
speed) so as insensitivity to variations in load.
Keywords- PMSM, Sensorless, sliding mode, EKF.

I.

II.

( )=

where is the mechanical speed of the rotor, is the number

of pole pairs, the electrical speed is ( =
), is the
angular position of the rotor,
is the flux of the permanent
magnet, , the stator currents in the reference frame ( , ).
, , , are respectively, the stator resistance, the stator
inductance, the coefficient of viscous friction and inertia of the
rotor and load.
III.

INTRODUCTION

The high performance control of the PMSM necessitates

accurate speed and rotor position information. That can be
realized by installing position sensors "encoders, tachometers
and resolvers". Unfortunately, these mechanical sensors
increase the overall cost as well as the size of the machine,
reduce the reliability, the noise immunity of the system and
moreover in some occasions are even not permitted [4]. From
this point of view, the sensorless techniques attract the
attention of the industrial applications and the researches as
well. Therefore many approaches for speed/position
estimation have been investigated in the literature [4].
In the second paragraph, we present the modeling of
PMSM. In the third section, we introduce the sliding mode
control of PMSM. In paragraph four and five, respectively,
estimating the position and speed methods of the rotor (sliding
mode observer, EKF) [3]. Finally, we present simulations
results and concluding remarks.
MODELING PMSM

The motor model in the two-phase rotating frame ( , )

can be written [1]:
= ( , ) + ( ).
(1)
=
, =
0
1 0
1
0
( )=
1
0
0 0

SLIDING MODE CONTROL OF PMSM

A. Design of the sliding mode control

The design of the sliding mode control takes into account
the problems of stability and good performance in a systematic
way in its approach [6], [8],[7]. In general, for this type of
order three steps must be performed : - Chose the sliding
surface, - Determination of existence conditions of the plan
or slippery conditions of access, - Synthesis control laws of
sliding mode.
B. The Speed Control of PMSM
Adjusting the speed of PMSM requires monitoring the
current consumed by the motor. A conventional solution is to
use the principle of cascade control method of the inner loop
enables the current control, of the outer loop to control the
speed. [9],[8]. The first surface speed that is written by :
( )
(2)
During the sliding mode and the steady state, we have:
( )=0
( ) = 0 and
(3)

Hence we deduce :

( ) . Thus, the control i

the sum of magnitudes i et i :
=
with :

2015 IEEE

represents

sin

The second surface of the inner loop accountable for

Controlling the Current i is described by [9],[7] :
S i =i
i
The derivative of the surface is given by :
S i

i +

i +

as v = v
+ v . , therefore ,
v
= L
+ R . i + p. . [
with v

= K . S i

(4)

IV.

=
=

with
(6)

where the expression of v

is:
=
+
The third surface is that of the current control
described by :
( )=
In this case we give expressions
=0:

. . .
( )

.
+

(7)
i . It is
(8)

(9)
(10)
(11)

SENSORLESS SPEED CONTROL ASSOCIATED WITH

SLIDING MODE OBSERVER

A. Design of the SMO

The PMSM model in the stationary reference frame
-axis) can be expressed as (12) [2] [3].
=

=
=

+
sin( )
sin( )

(12)

The motor speed changes slowly during one estimation

period, implying that = 0 , so the model of the back-EMF
can be transformed as follows [2] [3]:
=

(13)

The sliding surface is selected as

=

(14)

where =
is the actual value, =
is the estimated value of
.By using the mathematical model
of PMSM in the stationary ( , ) reference frame, the SMO is
bhown below :

( cos

(5)

+ L .i ]

cos

sin

( ),

V.

( )

( )

(15)

( ),
=
, = 2
, normally positive ( > 0).

EXTENDED KALMAN FILTER

The Kalman filter provides a solution that directly

cares for the effects of disturbance noises including
system and measurement noises. The errors in parameters
will also normally be handled as noise [5].
The dynamic state model for non non-linear stochastic
machine is as follows where all symbols in the
formulations denote matrices or vectors [5, 10]:
( ) = ( ( ), ( ), ) + ( )
(16)
( )
( ( ), ) + ( )

( : System noise vector, v(t) : Measurement noise vector.

w, v : are unrelated and zero mean stochastic processes. A
recursive algorithm is presented for the discrete time case.
For the given sampling time , both the optimal
estimate sequence x / and its covariance matrix
/
generated by the filter go through a two step loop. The first
step (prediction) performs a prediction of both quantities
based on the previous estimates x /
and the mean
voltage vector actually applied to the system in the period
from T
to T . F is the system gradient matrix
(Jacobean matrix) [5],[10].
( ( ), ) =

( ( ), ( ), )
( )

( )

( )

(17)

=
+
(
,
) (18)
/
/
= /
+(
+
) + (19)
/
/
/
The second step (innovation) corrects the predicted state
estimate and its covariance matrix trough a feedback
correction scheme that makes use of the actual measured
quantities; this is realized by the following recursive relations:
+
(
)
(20)
/ =
/
/
=
(21)
/
/
/
Where the filter gain matrix is defined by:
= /
(
+ )
(22)
/

H is transformation matrix.

( ( ), ) =

( )

( )

( )

(23)

The proposed EKF observer is designed m rotor reference

frame ( d, q frame). [5],[10]
The state vector is chosen to be:
=

(24)

VII.

1
VI.

SIMULATIONS RESULTS

The MSAP parameters studied are in Table I. In this

section, the speed setting is treated with the sliding mode
control mode associated with the PMSM two observers sliding
mode, extended kalman filter powered by a voltage inverter
with PWM control. The motor will be submitted to an
industrial Benchmark and the speed reference is selected in the
range [-100 100] (rad/s) to test and validate the performance
and robustness of sensorless control.
Figures 1 and 2 have all sizes estimated by two observers
(sliding mode, extended kalman filter). It is found that the
estimated values show a transient without overshoot. We note
that the response of the estimated speed is similar to that
measured following the reference speed with almost zero error
and validated the robustness of the sensorless SMC associated
with the two observers.
Also the estimated speed meets the two observers without
overshoot at startup unloading during inserting load torque
(exceeding 0.1 rad/s in the sliding mode control combined
with extended kalman filter) and exceeded 0.2 rad/s in the
sliding mode control with associated Sliding mode observer)
after a very short time, or Fig. 1,2 (zoom speed of rotation
about 0.47 s and 0.53 s). There is also a good reduction of
torque ripples.
Figures 3 and 4 show an observation error between the
actual speed and the estimated speed arises when the machine
is subject to application of load torque at t = 0.5 s to t = 1.5 s
and disappears in steady state uncertainty about the speed of
0.02 rad/s in the two observers at maximum but extended
kalman filter has a superiority and gives the best performance
and robustness relative to the observer or slidin mode
observer. Fig. 5 and 6 showed the currents and flux in the
control sliding .They illustrate the performance robustness of
the control sensorless sliding mode with these observers.
TABLE I.

MSAP PARAMETERS

Stator Resistance
Inductance in d-q axis
Number of pole pairs
Magnetic Flux linkage
Moment of inertia
Friction coefficient

Rs= 1.4
Ld=0.0066 H
p=3
Wb
f =0.154
J = 0.00176 Kg.m2
f=39.10-4 Nm/rd/s

Rotation Speed (rad/s)

(25)

Rotation Speed (rad/s)

where :

Rotation Speed (rad/s)

200
100
wref (rad/s)

west (rad/s)

-100
-200

wreal (rad/s)
0

0.5

1
1.5
Time (s)
Zoom speed around 0.47 (s) and 0.53 (s)

101.5
101
100.5
100
99.5
99
0.47

0.48

0.49

0.5
0.51
0.52
Time (s)
Zoom speed around 1.47 (s) and 1.53 (s)

0.53

-99.5
-100
-100.5
1.47

1.48

1.49

1.5
Time (s)

1.51

1.52

1.53

Fig. 1 The rotational speed (Real, Estimated, Reference) in the control

sliding mode based on sliding mode observer.
RotationSpeed (rad/s)

RotationSpeed (rad/s)

( ( ), ( )) =

CONCLUSION

The simulation results obtained in this presented and

discussed confirming its feasibility and validate excellent
dynamic performance. The results show a good estimation
under different operating conditions and low sensitivity to
external disturbances they allowed us to get rid of especially
mechanical speed sensor or position, which is expensive and
fragile. Concluded against that both sliding mode and
extended Kalman filter are simple to implement, don't take
into account the measurement noise or the environment. They
not require a lon1g calculation time, and have a good dynamic
response speed and good disturbance rejection; they show a
response time and efficient robustness. According to the
simulation results the extended Kalman filter has a superiority
and gives the best performance and robustness relative to the
sliding mode observer of sensorless sliding mode control in
terms of low speed behaviour, speed reversion and load
rejection.

RotationSpeed (rad/s)

and
,
are motor stator currents, voltages in
rotor reference frame.

200
100
w

ref

(rad/s)

west (rad/s)

-100

wreal (rad/s)
-200

0.2

0.4

0.6
0.8
1
1.2
1.4
1.6
Time (s )
Zoom s peed around 0.47 (s) and 0.53 (s )

1.8

101.5
101
100.5
100
99.5
99
0.47

0.48

0.49
0.5
0.51
Time (s )
Zoom s peed around 1.47 (s) and 1.53 (s )

0.52

0.53

1.52

1.53

-99.7
-99.8
-99.9
-100
-100.1
1.47

1.48

1.49

1.5
Time (s )

1.51

Fig. 2 The rotational speed (Real, Estimated, Reference) of the control sliding
mode based on extended Kalman filter.

Error between wreal et west

0.2
0
-0.2
1
Time (s)

1.5

1.5

0.6
Error between wreal et wref

0.4
0.2
0
-0.2
-0.4
0

0.5

1
Time (s)

Fig. 3 The observation error and the tracking error control sliding mode based
on sliding mode observer.
-12

x 10

0.5

-0.5
Error between wreal et wes t
-1

0.2

0. 4

0.6

0.8

1
Time (s )

1.2

0.2

0. 4

0.6

0.8

1
Time (s )

1.2

1. 4

1.6

1. 8

T
h
etra
c
k
in
ge
rro
r (ra
d
/s
)

0.6

0.4

0.2

-0.2
Error between wr eal
-0.4

1. 4

1.6

et wref
1. 8

Current (A)

Fig. 4 The observation error and the tracking error of the control sliding mode
based on extended Kalman filter.
i (A)

i (A)

0
-20
0

Current id (A)
Current iq (A)
Flux (Wb)

i (A)

20

0.5

1
Time (s)

1.5

5
0
-5
0

0.5

1
Time (s)

1.5

0.2

0.5
d

(Wb)

1
Time(Wb)
(s)
q

1.5
f

(Wb)

Torque (N.M)

-0.2
0

0.5

1
Time (s)

1.5

-20

-10
0

0.2

0.4

0.6

0.8

1
Time (s)

1.2

1.4

1.6

1.8

id (A)

0
-2

0.2

0.4

0.6

0.8

1
Time (s)

1.2

1.4

1.6

1.8

0.2

0.4

0.6

0.8

1
1.2
Time (s)
(Wb)
q

1.4

1.6

1.8

1
Time (s)

1.4

1.8

1.8

20
0
iq (A)
-20

0.2

(Wb)

(Wb)

0
-0.2

0.2

0.4

0.6

0.8

Load Torque (N.M)

0.5
1
1.5
2
Load Torque (N.M)
Electromagnetic Torque (N.M)
Time (s)

ic (A)

10
0

ib (A)

iq (A)

20

-20
0

ia (A)

20

id (A)

Current iq (A)

T
h
eo
b
s
e
rva
tio
ne
rro
r (ra
d
/s
)

1.5

Current (A)

0.5

Flux (Wb)

The tracking error (rad/s)

-0.4
0

Current id (A)

0.4

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Torque (N.M)

The observation error (rad/s)

0.6

1.2

1.6

Elm Torque (N.M)

10
0
-10

0.2

0.4

0.6

0.8

1
Time (s)

1.2

1.4

1.6

Fig. 5 The Current iabc and id , idest and iq , iqest and flux in the sliding mode
control based on sliding mode observer.

REFERENCES
[1]

L. Saihi, A. Bouhenna, M. Chenafa, and A. Mansouri Commande

vectorielle sans capteur de vitesse du MSAP base sur lobservateur

Fig. 6 The Current iabc and id , idest and iq , iqest and flux of the control sliding
mode based on extended Kalman filter.