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PMME 2016

Design and Simulink Modelling of an Adaptive Gain Variation

Sliding-Mode Control Algorithm for Sensorless Permanent Magnet
Synchronous Motor Drive
Kuman Siddhapuraa,* and Rajendrasinh Jadejab
a

School of Engineering, R. K. University, Rajkot, India

Electrical Engineering Department, Darshan Institute of Engineering and Technology, Rajkot, India
b
Faculty of Engineering, Marwadi Education Foundation, Rajkot, India

Abstract
The paper proposes a sliding mode observer (SMO) algorithm with adaptive gain variation algorithm for the permanent magnet
synchronous motor (PMSM) for estimation of speed and position of the motor. The PMSM drive is controlled using field
oriented control and to control the machine mathematical model of PMSM is adopted. To make the drive sensorless, to reduce
the cost and dependency on hardware, estimation of speed using back-electromotive force (Back-EMF), sliding-mode observer
and adaptive gain variation sliding-mode observer is simulated in MATLAB - Simulink environment. The mathematical
preliminary, block diagram representation of the scheme and simulation results are presented. The simulation results are obtained
using MATLAB Simulink and compared for a wide range of speed for different methods and results are discussed with the
effectiveness of proposed SMO algorithm application to PMSM drive.
2016 Elsevier Ltd. All rights reserved.
Selection and Peer-review under responsibility of International Conference on Processing of Materials, Minerals and Energy
(July 29th 30th) 2016, Ongole, Andhra Pradesh, India.
Keywords: PMSM, field oriented control, sliding-mode observer, Back-EMF observer;

This is an open-access article distributed under the terms of the Creative Commons Attribution-NonCommercial-ShareAlike License, which
permits non-commercial use, distribution, and reproduction in any medium, provided the original author and source are credited.
* Corresponding author. Tel.: +91-94272-29262; fax: +91-2822-293008.
E-mail address: kuman.siddhapura@darshan.ac.in

2214-7853 2016 Elsevier Ltd. All rights reserved.

Selection and Peer-review under responsibility of International Conference on Processing of Materials, Minerals and Energy (July 29th 30th)
2016, Ongole, Andhra Pradesh, India.

Author name / Materials Today: ProceedingsXX (2016) XXXXXX

1. Introduction
With the advancement of permanent magnet material, power electronics, and high-speed processor, researchers
are more focusing on PMSM motor. The advantages of using this machine in servo drive application are eye
catching to industries too. Some of them are of its high efficiency due to a loss in the rotor is almost zero, the
absence of brush and slip ring/commutator, good control over wide speed range and high power density of the
machine. To implement field oriented control, the accurate position of the rotor is required for any case of the
machine. To achieve this, normally a position/speed sensor which is mounted on the shaft is used. This sensor is
usually a decoder or encoder and wired from the machine to the circuitry. The cost of this sensor is high and has to
be eliminated since it significantly affects the choice of the control algorithm. There is also a limitation of mounting
the physical sensors on the shaft and is less susceptible to noise and environment of surrounding of an industry.
These limitations and advancement of the high-speed processor, the researcher found a keen interest to propose and
implement a sensorless algorithm to reduce cost and hardware dependency, which can be applied to any size of the
machine to any environment. Although PMSM is a nonlinear machine and parameter variation is a major constraint
for any observer and estimator, many authors have proposed a different scheme for a sensorless drive and estimation
motor speed and position [1-28].
A sensorless PMSM using second-order luenberber observer is presented in [1,5] to estimate the speed and
position of the rotor using reduced-order rotor flux observer. Back-EMF position and speed estimation is presented
in [2,7,10,11,24,26,27]. The back-EMF based methods are normally used to operate in the medium and high-speed
application. The induced emf estimation at very low speed increases the uncertainty in estimation. Speed and rotor
position estimation using sliding mode observer for PMSM is discussed in [3,4,6,8,14,15,17,21,22]. In [20], the
chattering problem in SMO is discussed which may lead to the undesirable frequency of oscillations having finite
frequency and amplitude. A discrete and digital sliding mode observer for PMSM is reported in [9,12,13].
Sensorless PMSM drive simulation study is presented with SMO and back-EMF observer in [16,18,20,23,25,26,27]
respectively. For non-salient or salient pole motor, an extended Kalman Filter is presented for sensorless control of
PMSM drive [19].
A sliding-mode observer algorithm with adaptive gain variation algorithm for PMSM to estimate speed and
position of the motor is proposed. To control the motor vector, the control algorithm is adopted. To make the drive
sensorless, to reduce the cost and dependency on hardware, estimation of speed using back-electromotive force
(Back-EMF), sliding-mode observer and adaptive gain variation sliding-mode observer is simulated in MATLAB Simulink environment.
2. PMSM Model
In this section, a mathematical model of PMSM is presented [28,29,30,31,32,33,34,35]. Basically, a three phase
input is applied to PMSM motor. This three phase equivalent model is transferred to two phase system in the alphabeta transformation which is also referred as Clerks transformation. The mathematical transformation from abc to
can be performed using following expressions.
Let va , vb and vc are the three phase supplied voltage at the stator terminal of the machine and ia , ib and ic
are the three phase current flowing though the machine.

2
1
1
va vb vc
3
2
2

(2.1)

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2
3
3
vb
vc

3 2
2

(2.2)

Similarly,

2
1
1
ia ib ic
3
2
2

(2.3)

2
3
3
ib
ic

3 2
2

(2.4)

Once the stator quantities are transformed into the alpha-beta transformation, now machine can be analysed as
two-phase machine. The expression of v and v of the machine can be expresses as

di
e
dt
di
v Rs i L e
dt
v Rs i L

Where e K E sin e and

(2.5)
(2.6)

e KE cose is the induced electromotive force in that specific phase that

is orthogonal to each other and depends on the speed of the machine where K E is voltage constant of induced emf
in PMSM.
For further reduction of alternating behaviour of the voltage and current, to get that in dc like qualities, these
variables can be transformed from to dq variable. This transformation is referred as Parks transformation, in
which the two-axis rotates at the speed of rotor, so called rotor reference frame. The transformation equation can be
expressed as
(2.7)
vd v sin e v cose

vq v cose v sin e

(2.8)

And similarly

id i sin e i cose

(2.9)

iq i cose i sin e

(2.10)

In dq axis the PMSM can be expresses as following expression

did
e Lq iq
dt
di
vq Rid Lq q e Ld id e PM
dt
d
e e
dt
vd Rid Ld

(2.11)
(2.12)
(2.13)

The expression for the electromagnetic torque can be written as,

3 P
Te (PM iq ( Lq Ld )iqid )
2 2
and the equation for the motor dynamics is

(2.14)

Author name / Materials Today: ProceedingsXX (2016) XXXXXX

Te TL Be J

d e
dt

In the above equations P is total number of poles,

(2.15)

Te is electromagnetic torque, TL is load torque, B is damping

coefficient and J is moment of inertia.

The inverter frequency is related to the rotor speed as

P
e
2

(2.16)

The voltage and flux linkage equations suggest the equivalent circuits shown in Fig. 1.

(a)

(b)

Fig. 1 Equivalent circuit of permanent magnet synchronous motor in rotor reference frame: Parks equation
3. PMSM Drive and Field Oriented Control
A PMSM drive can be considered as an integration of four main components in a system. That are, a PMSM, a
power converter unit, control algorithm implemented on processor/hardware and sensing devices. The PMSM is
driven by supply from power converter unit, which gives required voltage and frequency as per the signals received
from the control circuitry. Power converter unit normally supplied from dc such as a battery or from
controlled/uncontrolled ac dc converter. In sensorless drive, speed or position sensor is avoided but to estimate the
speed and position, current and voltage applied to the stator at every sample time is required to give as inputs.
Current sensors are usually two and by the mathematical expression, the third current can be calculated if there is no
neutral connection. For sensing voltage, sometimes control algorithm voltage can be considered as a feedback
voltage to avoid the noise in feedback signal and to reduce the cost of transducers.
To achieve fast dynamic control, a field oriented control is used in rotor reference frame. To achieve field
oriented control, the stator flux produce by stator winding has to be produced at orthogonal to rotor flux. In PMSM,
rotor flux is produced by permanent magnets, so d-axis current need not supply like other singly excited machine. In
this study, surface mounted PMSM is considered in which, the d-axis and q-axis inductance are same. So, surface
mounted PMSM is found with no reluctance torque as there is no saliency. To achieve maximum torque per ampere
below the rated speed and at given input dc voltage only q-axis current which is the torque producing component in
field orientation needed to control. To maintain the position of q-axis current always at orthogonal to d-axis
position, algorithm updated by every sampling time with the latest position of rotor flux. Now in the sensorless
algorithm, this position updating should be from algorithm itself as there are no physical sensors to sense the
position. The processor has to do the calculation in such an interval that does not affect the field orientation. The
conceptual diagram of sensorless PMSM drive is represented in Fig. 2(a).

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Nref

Id*=0

Speed
Control

SA

Current
Control

SB

Converter

PMSM

SC

Id
theta

abc to dq +
estimation

Iq
Nest

Fig. 2(a) Sensorless PMSM Drive

Fig. 2(b) Simulink diagram of PMSM Drive

Basic simulation diagram is shown in Fig. 2(b). The PMSM_Inverter block consists of dc source, a power
converter unit and PMSM block which form a power circuit. This block has to be given external input as pulses
which are produced from Control_Algorithm just down to this block. The detailed structure of PMSM_Inverter and
Control_Algorithm block is shown in Fig. 3(a) and Fig. 3(b).

Fig. 3(a) PMSM drive power circuit block

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Fig. 3(b) PMSM speed and current control block

To control the speed and to achieve field oriented control, a reference speed is compared with actual/estimated
speed and an error is generated. This speed is processed through series PI [36] regulator. This can be identified as
commanded torque or q-axis current command. To limit the stator current, a limiter is used at the output of speed
controller. Now, required q-axis current and d-axis current (zero) is compared with actual currents. These errors are
processed through series PI controllers which give required q-axis and d-axis voltage vectors. This voltage can be
transformed in abc using given position which is the reference or required output voltage. Using pulse width
modulation (PWM) technique, through the converter, the reference voltage is produced from dc to ac which is given
to the terminals of the machine.
4. Estimation of Speed and Position
In this section, estimation of speed and position is discussed using Back-EMF observer, sliding-mode observer
and proposed adaptive gain variation sliding-mode observer. The Simulink diagram of the complete system is shown
in Fig. 4. The supply voltage and current are transformed into transformation are represented as Vx1, Vy1, Ix1
and Iy1 in the diagram. These two phase voltage and currents are given as input to all the three methods. The output
voltage pair from each algorithm is represented as Exy1, Exy2, and Exy3 in the diagram. The current estimation
errors produced from the sliding-mode observer and adaptive gain variation sliding-mode observer are noted as Err1
and Err2 respectively. The estimated Back-EMFs are used to estimate the position and speed.
The basic input for estimation for any of the algorithm are stator voltages and stator currents in a stationary
reference frame that can be achieved by abc to transformation. The basic equations in this reference frame can be
written as

di
e
dt
di
v Rs i L e
dt
Where e K E sin e and e K E cose
v Rs i L

(4.1)
(4.2)

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Fig. 4 Back-EMF and sliding-mode block

From basic input of voltage and current, back-EMF associated in the stationary reference frame can be estimation
as shown in Fig. 5(a). From back-EMF, the rotor position can be calculated from basic mathematical equation given
as

e
e tan 1
e

(4.3)

In sliding-mode observer, the basic inputs are stator voltage and current in the stationary reference frame.

di
R
1
1
s i v e
dt
L
L
L
di
R
1
1
s i v e
dt
L
L
L

(4.4)

(4.5)

To estimate current in this reference frame, the SMO can be designed as

di
R
1
1
s i v k
dt
L
L
L
di
R
1
1
s i v k
dt
L
L
L

(4.6)

(4.7)

Where

k K A sign(i i )
k K A sign(i i )

(4.8)
(4.9)

Here, K A is observer gain, need to select such that sliding mode converge. The output can be passed through a
low-pass filter to reduce the switching transients which can be represented as Back-EMF for that specific
coordinate. The simulation scheme is shown in Fig. 5(b).
The difficulty with the sliding-mode observer is convergence problem at low speed and high speed. To overcome

Author name / Materials Today: ProceedingsXX (2016) XXXXXX

the limitation, the gain K A should change accordingly. If current estimation error is too high, the observer required
gain is more and if the error is too small, the required gain to be reduced. Current estimation error signals

(i i )

and (i i ) are used to produce correcting factor for gain. So, with modification, the sliding-mode observer can
be designed as

di
R
1
1
s i v k _ ag
dt
L
L
L
di
R
1
1
s i v k _ ag
dt
L
L
L
k _ ag K AG sign(i i )

(4.10)

(4.11)
(4.12)

k _ ag K AG sign(i i )

(4.13)

K AG K A gc

(4.14)

gc l (i i )2 (i i )2

(4.15)

The correction factor g c for the gain K AG is generated as shown in Fig. 5(c). This correction factor brings the
sliding-mode observer to give the estimated emf in a wide range of speed. This method is used as feed-forward
technique as the gain varies based on the error in current that makes an error to remain in limited range and bring a
sliding-mode observer to converge in a wide range of speed. The complete scheme is also represented in the same
diagram. To reduce the high-frequency noise, a low-pass filter is used in correction factor calculation. Based on
upper and lower speed limit of the motor, the limiter can be used to limit min-max values of correction.

Fig. 5(a) Back-EMF estimation

Author name / Materials Today: ProceedingsXX (2016) XXXXXX

Fig. 5(b) Sliding-mode observer

Fig. 5(c) Adaptive gain variation sliding-mode observer

5. Simulation result discussion,
Sensorless PMSM drive with field oriented control is simulated using MATLAB - Simulink environment. The
reference speed and load torque variation are given as shown in Fig. 6(a). The output of the drive-in closed loop
control is shown in Fig. 6(b). The output speed, torque, and stator current are varying as per the commanded input.
During acceleration, the maximum current command is limited by 20A. This is also applicable during deceleration
of the drive when the reference speed is reduced from 1500 rpm to 500 rpm. At time 0.6s to 0.7s the reference speed
ramped from 500 rpm to 2100 rpm. The load torque applied at 0.2s is 10Nm and is reduced to 5 Nm at 0.8s.

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Fig. 6(a) Input speed and load torque

Fig. 6(b) Output speed, torque and stator currents

The estimated back-EMF by the back-EMF method, sliding-mode observer and adaptive gain variation sliding
mode observer is shown in Fig. 7 as Exy1, Exy2 and Exy3 respectively. It is observed that, at 1500 rpm, all the three
methods gave a similar result, except the back-EMF has more high-frequency components. To reduce this more
filtering is required, which may introduce phase delay and error in position estimation. At low speed i.e. at 500 rpm,
the output contains less noise with adaptive gain algorithm because sliding-mode observer gain is reduced at this
speed which keeps the convergence parameter fixed in the sliding-mode observer. At high speed i.e. at 2100 rpm,
basic sliding-mode observer saturates, and output is no longer sinusoidal, that is not the actual case. Comparing all
three back-EMF signals produced, the third remains sinusoidal in nature and is better to decide the position from this
signal.

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Fig. 7 Estimated Back-EMF by three different methods

Current estimation error signals

(i i ) and (i i ) are shown in Fig. 8(a). For fixed observer gain K A ,

the error oscillates in wide range based on the actual speed of the motor as shown with Error_algo1. If the observer
gain made as an adaptive gain variation, the error remains in a specific range represented as Error_algo2. The
correction factor g c is shown in Fig. 8(b). The XY plot of errors in both the method of the sliding-mode observer
is shown in Fig. 8(c) in which left x-y plot is for the sliding-mode observer as Error_xy_algo1, and right side x-y plot
is for adaptive gain variation sliding-mode observer as Error_xy_algo2. Adaptive gain variation brought the SMO to
converge at any given range of the speed of the motor and gave desired Back-EMF signals at the output of SMO.

Fig. 8(a) Current estimation error by sliding-mode observer

Fig. 8(b) Gain correction factor variation with change in speed command

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Fig. 8(c) X-Y plot for error in current with two sliding-mode observer algorithm
To observe the estimated angle with actual angle of the rotor, the estimated position overlapped with the actual
position is shown in Fig. 9(a). The first part of this figure shows the complete range of time. At initial start-up, at
low-speed and high-speed position estimation is shown in another section in the figure as time mark a, b and c. It is
observed that, estimated position has a small error at high speed that can be corrected by position correction factor
based on the value of estimated speed or magnitude of Back-EMF. The actual speed, estimated speed and error in
speed in shown in Fig. 9(b). The estimated speed closely follows the actual speed during steady state.

Fig. 9(a) Estimated and actual rotor position

Fig. 9(b) Estimated and actual speed of the motor

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13

6. Conclusion
The PMSM drive with field oriented control technique is simulated. To make sensorless, estimation of rotor flux
position and speed is done by Back-EMF observer, sliding-mode observer and proposed adaptive gain variation
sliding-mode observer. The results of Back-EMF using all three methods are compared and found a minimum
disturbance in adaptive gain variation sliding-mode observer which brings good estimation of position. Error signals
produced by the sliding-mode observer and adaptive gain variation sliding-mode observer are compared, and it
indicates that error in adaptive gain variation sliding-mode observer remains in a limit due to closed loop gain
variation as the actual speed of the motor. This brings observer convergent and does not allow saturating. The
estimated position and speed through the algorithm with simulated position and speed are compared, and results
show that estimated the position and speed closely follow the actual position and speed.
Appendix A.
Parameter of PMSM
Stator resistance = 0.4578
Armature Inductance = 3.34 mH
Flux link by magnet = 0.171 V.s
Number of Poles = 8
Moment of Inertia = 0.001469 kg.m2
Viscous damping = 0.0003035 N.m.s
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