This paper is devoted to designing a sensorless high-speed tracking control for surface-mount permanent-magnet synchronous motors, considering a time-varying load torque. This proposal consists of an extended-state observer interconnected with a PI-compensated controller, considering only the measurement of electrical variables for feedback. First, to design the extended-state observer, a rotary coordinate model of the motor is extended in one state to estimate the load torque and the rotor’s position and speed. Later, the estimations are fedback to a PI-compensated controller to attenuate the time-varying load torques. Our proposed methodology aims to overcome a restriction regarding the solution of the Riccati equation respecting the Lipschitz condition for observer stability analysis. Therefore, a PI-compensated controller described as a closed-loop provides a sensorless scheme. Lyapunov stability analysis is applied to determine sufficient conditions to ensure that the states of the closed-loop system are ultimately bounded, which is one of our main contributions. The proposed observer-based controller scheme deals with unmeasured load torque fluctuations. Furthermore, we carry out high-precision emulations to provide testing scenarios of the permanent-magnet synchronous motor with some challenging load torque magnitudes and behaviors. Finally, we conduct experiments on the Technosoft${}^{\circledR }$ development platform to corroborate the feasibility of the proposed control scheme in a real-world scenario.

The aim of this study is to develop sensorless high-speed tracking control for surface-mounted permanent magnet synchronous motors by taking the rotor position offset error and time-varying load torque into consideration. This proposal combines an extended state observer with an adaptation position algorithm, employing only the measurement of electrical variables for feedback. First, a rotatory coordinate model of the motor is proposed, wherein the rotor position offset error is considered as a perturbation function within the model. Second, based on the aforementioned model, a rotary coordinate model of the motor is extended in one state to estimate the load torque, as well as the rotor’s position and speed, despite the presence of the rotor position offset error. Through Lyapunov stability analysis, sufficient conditions were established to guarantee that the error estimations were bounded. Finally, to validate the feasibility of the proposed sensorless scheme, experiments were conducted on the Technosoft^® development platform, where the alignment routine was disabled and an intentional misalignment between the magnetic north pole and the stator’s south pole was established.

Este artículo presenta el diseño de un observador para resolver el problema de sincronización de sistemas caóticos de múltiple enrollamiento. La propuesta consiste en el diseño de un observador de estado extendido para estimar la no linealidad que genera el múltiple enrollamiento en la dinámica del sistema caótico. Además, se presenta un análisis de estabilidad bajos los criterios de Lyapunov para demostrar que las soluciones se mantienen acotadas de manera uniforme. Finalmente, se muestran resultados de simulación para ilustrar la efectividad del observador propuesto.