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Speed Estimation Method for Permanent Magnet Synchronous Motor with Hall Sensors Based on Least Squares Algorithm and Sliding Mode Observer
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Suicheng ZENG1, Hanbing DAN  Member, CPSS2, Dingwen LI3, Mei SU2
Journal of Power Supply | 2026, 24(4) : 313 - 322
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Journal of Power Supply | 2026, 24(4): 313-322
• Motor Drives and Control •
Speed Estimation Method for Permanent Magnet Synchronous Motor with Hall Sensors Based on Least Squares Algorithm and Sliding Mode Observer
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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
Published: 2026-04-30 doi: 10.13234/j.issn.2095-2805.2026.4.313
Outline
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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.

Permanent magnet synchronous motor (PMSM)  /  Hall sensor  /  position and velocity estimation  /  sliding mode observer  /  least squares method
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
Funding
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  • Technology Project of State Grid Corporation of China(5216A5220023)
  • National Natural Science Foundation of China(52277071)
Appendix
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Year 2026 volume 24 Issue 4
33
4
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Article Info
doi: 10.13234/j.issn.2095-2805.2026.4.313
  • Receive Date：2023-04-23
  • Online Date：2026-10-29
  • Published：2026-04-30
Article Data
Affiliations
History
  • Received：2023-04-23
  • Revised：2023-10-23
  • Accepted：2023-12-04
Funding
Technology Project of State Grid Corporation of China(5216A5220023)
National Natural Science Foundation of China(52277071)
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
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