电源学报

基于最小二乘和滑模观测器的霍尔传感器永磁同步电机转速估计方法

PDF下载

曾岁程 ¹ , 但汉兵中国电源学会会员 ² , 李鼎文 ³ , 粟梅 ²

电源学报 | 电机驱动与控制 2026,24(4): 313-322

收起

电源学报 |电机驱动与控制 2026 , 24 (4) : 313 -322

基于最小二乘和滑模观测器的霍尔传感器永磁同步电机转速估计方法

全屏

曾岁程¹, 但汉兵中国电源学会会员², 李鼎文³, 粟梅²

作者信息

^1.国网湖南省电力有限公司电力科学研究院，长沙　410007

^2.中南大学自动化学院，长沙　410083

^3.中国航发南方工业有限公司，株洲　412000

通讯作者:

但汉兵（1991—　），男，中国电源学会会员，通信作者，博士，副教授。研究方向：矩阵变换器，电机驱动控制和三维无线电能传输。E-mail：daniel698@sina.cn。

作者简介:

曾岁程（1998—　），男，硕士。研究方向：电力牵引与传动控制。E-mail：zeng_suicheng@163.com。

李鼎文（1988—　），男，本科，工程师。研究方向：电力电子与电机驱动。E-mail：dingwen_li@sina.com。

粟梅（1967—　），女，博士，教授。研究方向：新能源发电与现代电力电子系统建模、优化与控制。E-mail：sumeicsu@mail.csu.edu.cn。

Speed Estimation Method for Permanent Magnet Synchronous Motor with Hall Sensors Based on Least Squares Algorithm and Sliding Mode Observer

Suicheng ZENG¹, Hanbing DAN Member, CPSS², Dingwen LI³, Mei SU²

Affiliations

^1.Electric Power Research Institute, State Grid Hunan Electric Power Co., Ltd., Changsha 410007, China

^2.School of Automation, Central South University, Changsha 410083, China

^3.AECC South Industry Co., Ltd., Zhuzhou 412000, China

出版时间: 2026-04-30 doi: 10.13234/j.issn.2095-2805.2026.4.313

文章导航

摘要

收起

永磁同步电机以其高功率密度、高可靠性和易于维护的优势在工业电动车辆领域得到了广泛应用。与配置高精度编码器和无速度传感器算法的永磁同步电机相比，配置霍尔传感器的永磁同步电机兼顾了系统成本和控制性能。然而，在矢量控制方法中，低分辨率的霍尔传感器输出的位置和速度信息精度较差，从而造成电流和电磁转矩的脉动。因此提出1种融合的速度估计方法，采用最小二乘法不依赖于电机参数输出连续平滑的角度，并基于电机机械运动方程设计滑模观测器实时估计转速，采用方波启动以解决离散位置信息缺失的问题，并对设计的观测器进行李雅普诺夫稳定性证明。最后实验结果验证了所提转速估计方法的正确性和可行性。

关键词

永磁同步电机 / 霍尔传感器 / 位置和速度估计 / 滑模观测器 / 最小二乘法

Abstract

收起

Permanent magnet synchronous motors (PMSMs) have been widely applied in the field of industrial electric vehicles owing to their advantages of high power density, high reliability and easy maintenance. Compared with the PMSM equipped with a high-precision encoder and a speed sensorless algorithm, the PMSM equipped with Hall sensors can guarantee the system’s low cost, as well as its control performance. However, the output information about the position and velocity from low-resolution Hall sensors is of low accuracy when using the vector control method, resulting in motor current ripple and electromagnetic torque pulsation. Therefore, a fusion speed estimation method is proposed, in which the least squares method independent of motor parameters is used to output a continuous smooth angle, and a sliding mode observer based on the motor’s mechanical motion equation is designed to estimate the speed in real time. The motor is started by square wave to solve the problem of missing discrete position, and the designed observer is also proved by the Lyapunov stability method. Finally, experimental results verify the correctness and feasibility of the proposed speed estimation method.

Key words

Permanent magnet synchronous motor (PMSM) / Hall sensor / position and velocity estimation / sliding mode observer / least squares method

引用本文

曾岁程, 但汉兵中国电源学会会员, 李鼎文, 粟梅. 基于最小二乘和滑模观测器的霍尔传感器永磁同步电机转速估计方法. 电源学报, 2026 , 24 (4) : 313 -322 . DOI: 10.13234/j.issn.2095-2805.2026.4.313

Suicheng ZENG, Hanbing DAN, Dingwen LI, Mei SU. Speed Estimation Method for Permanent Magnet Synchronous Motor with Hall Sensors Based on Least Squares Algorithm and Sliding Mode Observer[J]. Journal of Power Supply, 2026 , 24 (4) : 313 -322 . DOI: 10.13234/j.issn.2095-2805.2026.4.313

基金

收起

国网公司科技资助项目(5216A5220023)
国家自然科学基金面上资助项目(52277071)

参考文献

收起

文献

收起

参考文献引证文献

排序方式：

[1]

倪启南, 杨明, 徐殿国, 等. 低分辨率位置传感器永磁同步电机精确位置估计方法综述[J]. 电工技术学报, 2017, 32(22): 70-81. Ni Qinan, Yang Ming, Xu Dianguo, et al. Review of precise position estimation method of PMSM with low-resolution position sensor[J]. Transactions of China Electrotechnical Society, 2017, 32(22): 70-81. (in Chinese)

[2]

李佳耀, 刘碧, 夏文婧, 等. 基于开关序列的永磁同步电机模型预测磁链控制[J]. 电源学报, 2022, 20(4): 146-154. Li Jiayao, Liu Bi, Xia Wenjing, et al. Model predictive flux control for permanent magnet synchronous machine based on switching sequence[J]. Journal of Power Supply, 2022, 20(4): 146-154. (in Chinese)

[3]

康劲松, 蒋飞, 钟再敏, 等. 电动汽车用永磁同步电机弱磁控制策略综述[J]. 电源学报, 2017, 15(1): 15-22. Kang Jinsong, Jiang Fei, Zhong Zaimin, et al. Overviews of flux weakening control schemes with permanent magnet synchronous motor used in electric vehicles[J]. Journal of Power Supply, 2017, 15(1): 15-22. (in Chinese)

[4]

Chen Zhe, Gao Jianbo, Wang Fengxiang, et al. Sensorless control for SPMSM with concentrated windings using multisignal injection method[J]. IEEE Transactions on Industrial Electronics, 2014, 61(12): 6624-6634.

[5]

莫会成, 闵琳. 现代高性能永磁交流伺服系统综述: 传感装置与技术篇[J]. 电工技术学报, 2015, 30(6): 10-21. Mo Huicheng, Min Lin. Summary of modern high performance permanent magnet AC servo system—Sensor device and technology[J]. Transactions of China Electrotechnical Society, 2015, 30(6): 10-21. (in Chinese)

[6]

Wang Gaolin, Valla M, Solsona J. Position sensorless permanent magnet synchronous machine drives—A review[J]. IEEE Transactions on Industrial Electronics, 2020, 67(7): 5830-5842.

[7]

Nguyen A T, Rafaq M S, Choi H H, et al. A model reference adaptive control based speed controller for a surface-mounted permanent magnet synchronous motor drive[J]. IEEE Transactions on Industrial Electronics, 2018, 65(12): 9399-9409.

[8]

Lin T C, Zhu Z Q. Sensorless operation capability of surface-mounted permanent-magnet machine based on high-frequency signal injection methods[J]. IEEE Transactions on Industry Applications, 2015, 51(3): 2161-2171.

[9]

张涵, 王凯, 李健, 等. 基于开关型霍尔的交替极永磁电机位置估算策略[J]. 中国电机工程学报, 2020, 40(7): 2377-2384. Zhang Han, Wang Kai, Li Jian, et al. Position estimation strategy of consequent-pole PM machine based on binary hall sensor[J]. Proceedings of the CSEE, 2020, 40(7): 2377-2384. (in Chinese)

[10]

刘细平, 胡卫平, 丁卫中, 等. 永磁同步电机多参数辨识方法研究[J]. 电工技术学报, 2020, 35(6): 1198-1207. Liu Xiping, Hu Weiping, Ding Weizhong, et al. Research on multi-parameter identification method of permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2020, 35(6): 1198-1207. (in Chinese)

[11]

Manyala J O, Fritz T, Atashbar M Z. Integration of triaxial Hall-effect sensor technology for gear position sensing in commercial vehicle transmissions[J]. IEEE Transactions on Instrumentation and Measurement, 2012, 61(3): 664-672.

[12]

Morimoto S, Sanada M, Takeda Y. Sinusoidal current drive system of permanent magnet synchronous motor with low resolution position sensor[C]//IAS’96. Conference Record of the 1996 IEEE Industry Applications Conference Thirty-First IAS Annual Meeting. San Diego, CA, USA, 2002: 9-14.

[13]

Ni Qinan, Yang Ming, Odhano S A, et al. A new position and speed estimation scheme for position control of PMSM drives using low-resolution position sensors[J]. IEEE Transactions on Industry Applications, 2019, 55(4): 3747-3758.

[14]

Capponi F G, De Donato G, Del Ferraro L. Brushless AC drive using an axial flux synchronous PM motor with low resolution position sensors[C]//2004 IEEE 35th Annual Power Electronics Specialists Conference. Aachen, Germany, 2004: 2287-2292.

[15]

张璞汝, 张千帆, 宋双成, 等. 一种采用霍尔传感器的永磁电机矢量控制[J]. 电源学报, 2017, 15(1): 81-86. Zhang Puru, Zhang Qianfan, Song Shuangcheng, et al. Permanent magnet motor vector control using Hall effect position sensor[J]. Journal of Power Supply, 2017, 15(1): 81-86. (in Chinese)

[16]

李垣江, 苗奎星, 魏海峰, 等. 基于带通频率跟踪滤波器的永磁同步电机转子位置与速度估算[J]. 电工技术学报, 2022, 37(21): 5402-5413. Li Yuanjiang, Miao Kuixing, Wei Haifeng, et al. Permanent magnet synchronous motor rotor position and speed estimation methodology based on band-pass frequency tracking filter[J]. Transactions of China Electrotechnical Society, 2022, 37(21): 5402-5413. (in Chinese)

[17]

De Donato G, Scelba G, Pulvirenti M, et al. Low-cost, high-resolution, fault-robust position and speed estimation for PMSM drives operating in safety-critical systems[J]. IEEE Transactions on Power Electronics, 2019, 34(1): 550-564.

[18]

Kim S Y, Choi C, Lee K, et al. An improved rotor position estimation with vector-tracking observer in PMSM drives with low-resolution Hall-effect sensors[J]. IEEE Transactions on Industrial Electronics, 2011, 58(9): 4078-4086.

[19]

Harke M C, De Donato G, Giulii Capponi F, et al. Implementation issues and performance evaluation of sinusoidal, surface-mounted PM machine drives with Hall-effect position sensors and a vector-tracking observer[J]. IEEE Transactions on Industry Applications, 2008, 44(1): 161-173.

[20]

章回炫, 范涛, 宁圃奇, 等. 车用永磁同步电机高性能弱磁控制策略[J]. 电源学报, 2024, 22(2): 378-385. Zhang Huixuan, Fan Tao, Ning Puqi, et al. Flux-weakening control strategy for permanent magnet synchronous motor used in electric vehicles with high performance[J]. Journal of Power Supply, 2024, 22(2): 378-385. (in Chinese)

[21]

Feng Zhaodong, Acarnley P P. Extrapolation technique for improving the effective resolution of position encoders in permanent-magnet motor drives[J]. IEEE/ASME Transactions on Mechatronics, 2008, 13(4): 410-415.

[22]

钟逸飞, 孔武斌, 易磊, 等. 基于霍尔位置传感器的永磁同步电机方波启动问题研究[J]. 船电技术, 2018, 38(1): 26-29, 32. Zhong Yifei, Kong Wubin, Yi Lei, et al. Square wave start-up control of permanent magnet synchronous motor with Hall-effect sensors[J]. Marine Electric & Electronic Technology, 2018, 38(1): 26-29, 32. (in Chinese)

[23]

Zhang Xiaoguang, Li Zhengxi. Sliding-mode observer-based mechanical parameter estimation for permanent magnet synchronous motor[J]. IEEE Transactions on Power Electronics, 2016, 31(8): 5732-5745.

2026年第24卷第4期

PDF下载

引用本文

BibTeX

文章信息

doi: 10.13234/j.issn.2095-2805.2026.4.313

接收时间：2023-04-23
首发时间：2026-10-29
出版时间：2026-04-30

补充材料

相关文章

文章信息

作者

出版历史

收稿日期：2023-04-23
修回日期：2023-10-23
录用日期：2023-12-04

基金

Technology Project of State Grid Corporation of China(5216A5220023)

国网公司科技资助项目(5216A5220023)

National Natural Science Foundation of China(52277071)

国家自然科学基金面上资助项目(52277071)

作者信息

^1.国网湖南省电力有限公司电力科学研究院，长沙　410007

^2.中南大学自动化学院，长沙　410083

^3.中国航发南方工业有限公司，株洲　412000

通讯作者:

参考文献

分享链接

https://castjournals.cast.org.cn/joweb/dyxb/CN/10.13234/j.issn.2095-2805.2026.4.313

分享至

全文二维码

扫描看全文

引用本文

BibTeX

本文的引用情况

2种不同金属材料的力学参数

科 Family	属数 Number of genus	种数 Number of species	占总种数比例 Percentage of total species (%)	属 Genus	种数 Number of species	占总种数比例 Percentage of total species (%)
鹅膏菌科Amanitaceae	2	11	5.26	鹅膏菌属 Amanita	10	4.78
小菇科 Mycenaceae	2	12	5.74	丝盖伞属 Inocybe	5	2.39
多孔菌科 Polyporaceae	8	14	6.70	蜡蘑属 Laccaria	5	2.39
红菇科 Russulaceae	3	23	11.00	小皮伞属 Marasmius	6	2.87
				小菇属 Mycena	11	5.26
				光柄菇属 Pluteus	5	2.39
				红菇属 Russula	17	8.13
				栓菌属 Trametes	5	2.39

关闭全屏

BibTeX
EndNote
RefWorks
TxT