2021 24th International Conference on Electrical Machines and Systems (ICEMS) Oct 31-Nov 3, 2021 | Hybrid, Korea

Vector Control of Permanent Magnet Synchronous

Motor Based on New MRAS
Yusheng Hu1,2,3, Liyi Li1*, Weilin Guo2,3, Yan Li2,3
1Harbin
Institute of Technology, Harbin, China
2GREE
ELECTRIC APPLIANCES, INC. of ZHUHAI, Zhuhai, China
3Guangdong Provincial Key Laboratory of High-speed and Energy Conservation Motor System, Zhuhai, China

E-mail:gldqhys@163.com

Abstract—Model reference adaptation system(MRAS) is a amount of computation and a high processing speed of the
relatively good-performance speed identification method for control chip [9-10].
permanent magnet synchronous motor, but the accuracy of the
MRAS is to take the equation without unknown
reference model's parameters will directly affect the speed
parameters as the reference model, and the equation with
identification results. To solve this problem, this paper proposes
parameters to be estimated as the adjustable model. According
a new model reference adaptation method. Based on Popov's
to the output difference of the two models, an adaptive law is
superstability theory, a new adaptive law is designed to reduce
designed to adjust the estimated parameters of the adjustable
2021 24th International Conference on Electrical Machines and Systems (ICEMS) | 978-8-9865-1021-8/21/$31.00 ©202110.23919/ICEMS52562.2021.9634634

the influence of reference model parameters on speed

identification. Finally, the method is applied to vector control
system for permanent magnet synchronous motors. The
effectiveness of the improved MRAS algorithm is verified
through simulations and experiments. The results show that the
method proposed in this paper can accurately identify the motor
speed and has strong robustness.
Keywords—Permanent magnet synchronous motor; MRAS;
adaptive law; speed identification; vector control
I. INTRODUCTION
The core of sensorless vector control of permanent magnet
synchronous motor(PMSM) is the estimation of motor speed
and rotor position. Many scholars and institutions at home and
abroad have carried out research on sensorless technology.
The main ideas are based on the stator current and voltage of
the motor, through a certain method to estimate the motor
speed and rotor position.
II.
At present, sensorless technologies suitable for PMSM
basically has the following categories:
The open-loop direct calculation method, such as the flux
estimation method, directly calculates the rotor position and
speed of the motor through the voltage equation and flux
equation of the motor. This method is simple in calculation
and fast in response, but it is susceptible to parameter changes
and measurement noise [1].
Based on observer method of back-EMF such as the full-
order state observer, the sliding mode observer.Due to the
model, so as to achieve the aim of estimate value tracking
reference value [11].It is applied to the estimation of motor
speed, which has good convergence, the computational
complexity is moderate, and is convenient for engineering
realization. But traditional MRAS adaptive law contains
multiple parameters of the reference model, which are the
motor parameters, the accuracy of the parameters influence
the speed identification results.
In this paper, a new MRAS is proposed, and a new
adaptive law is designed based on Popov's superstability
theory. The adaptive law is designed to reduce the influence
of reference model parameters on speed identification. Finally,
the method is applied to the vector control system of PMSM.
In this paper, the effectiveness of the new MRAS algorithm is
verified through simulation and experiment, the results show
that the proposed method can accurately identify motor speed,
and has strong robustness.
MATHEMATICAL MODEL OF PMSM AND TRADITIONAL
MRAS
A. Mathematical model of PMSM
Voltage equation of PMSM in the d - q coordinate system
is:
 did
ud = Rs id + Ld dt − ωr Lq iq
 (1)
u = R i + L diq + ω L i + ω ϕ
 q s q q
dt
r d d r f

small back-EMF at low speed, the back-EMF has a low signal-

to-noise ratio (SNR), the effect of the method at low speeds is
poorer, general suitable for medium and high speed occasions
[2-3]; in addition, the sliding mode observer also has
chattering problem, which affects the estimation accuracy [4-
5].
Where Rs is the stator resistance, Ld,Lq are direct axis
inductance and quadrature axis inductance of the motor
respectively, ψf is the PM Flux Linkage of the motor rotor, ωr
is the speed of the motor, id,iq,ud,uq are the current and voltage
of d and q axis of the stator winding respectively.

High-frequency signal injection method is only suitable This model can be transformed into the following form:
for low-speed situations [6-8], it is mainly because the stator
resistance voltage and the rotating voltage cannot be ignored  Rs Lq  1 
at high speed, resulting in the simplified model of high-  − ωr   0
d id′   Ld Ld  id′  Ld u′ 
frequency signal injection can no longer be applied.  i′  =    +   d  (2)
dt  q  Ld Rs   iq′   1   uq′ 
Although the extended Kalman method and artificial  − ωr −  0 L 
intelligence method have high estimation accuracy and are  Lq Lq   q 

less affected by external parameters, they require a large

Copyright ⓒ KIEE Electrical Machinery and Energy Conversion Systems 1983

Authorized licensed use limited to: Universitas Brawijaya. Downloaded on March 28,2023 at 15:37:19 UTC from IEEE Xplore. Restrictions apply.
 ϕf Rsϕ f de R Lq
Where: id′ = id + , iq′ = iq , ud′ = ud + , u ′q = uq . = - e − (ωˆ − ω ) iq (7)
Ld Ld
dt Ld Ld
B. Traditional MRAS
Lq
Equation 2 is selected as the state equation of the If W = (ωˆ − ω ) iq is defined, the above equation can be
reference model of traditional MRAS.According to this Ld
reference model establish the adjustable model is as follows: simplified as:

 Rs Lq 
de
1  = Ae − W (8)
 − ωˆ r  ˆ 0
d id′   Ld
ˆ Ld  id′   Ld u′  dt
 =  +   d  (3)
dt  iˆq′   Ld Rs   iˆq′   1   uq′  Then, the state equation of the error is:
− ωˆ r −    0 
L L L
 q q   q 
e& = Ae + Bu
Where ωˆ r is the estimated motor speed.  (9)
v = Ce + Du
id′ − iˆd′   R
The generalized error is defined as: e =   Where: A = -  , B = [1] , C = [1], D = [0] .
iq′ − iˆq′   Ld 
According to Equation (9), an equivalent nonlinear
For this reference model and adjustable model, the
feedback system can be built, as shown in Fig. 1:
adaptive law designed for conventional MRAS in the form of
proportional integration is as follows:

ωˆ r =  − ki (e T J î′)dt − k p (e T J î′) (4)

 Lq 
iˆd′  0 - L 
J=
d 
Where: î ′ =   ,  Ld 
, k p , ki are the
ˆ
iq′   0
 Lq  Fig. 1 Equivalent nonlinear feedback system
proportional integration coefficients respectively. Based on Popov's superstability theory, a adaptive law is
It can be seen from Equation (4) that the estimation of designed to find the relationship between W and V in Fig. 1.
speed is related to the d-axis inductance, q-axis inductance of According to modern control theory, two conditions must be
the motor, permanent magnet flux and motor resistance, and satisfied for the system to meet Popov superstability[13] :
the inaccurate parameters will affect the estimation result of (1)The transfer function matrix H(s) = C(sI − A)−1B + D of
speed. the system is strictly positive definite;
Evaluating the pros and cons of a method can be based on (2)The nonlinear time-varying link satisfies Popov
its dependence on parameters. The more parameters are used, t1
the robustness of parameters will be weakened[12].As can be integral inequality: η (0, t1 ) =  v T Wdt ≥ −γ 02 , γ 02 is any finite
0
seen from the above, the traditional MRAS needs to use four positive number.
motor parameters, which is highly dependent on the motor
parameters. Firstly, according to the theorem, if there are real
symmetric matrices P and real matrices K 、 L, satisfying
C. New MRAS with high robustness
PA + A T P = −LLT − Q and Q = QT > 0 , B T P + K T LT = C ,
In order to reduce the number of motor parameters used K T K = D + DT ,then the transfer function matrix H(s) is
in MRAS, this paper improves the traditional MRAS and strictly positive definite.
takes Equation (5) as the reference model:
We define the real symmetric matrix P = [1] , then
did R 1 L
= - id + ud + ω q iq (5)  2R 
dt Ld Ld Ld PA + A T P = -  (10)
 Ld 
The adjustable model with angular frequency ω̂ as the
adjustable parameter is established as follows: R  R
Now, if I take the matrix Q =   , L =   , K = [0]
diˆd R 1 Lq  Ld   Ld 
= - iˆd + ud + ω̂ iq (6)
dt Ld Ld Ld then it satisfies the theorem that the transfer function
matrix is strictly positive definite.
At this point, defined the generalized error is e = id − îd , Secondly, V and W are substituted into the Popov integral
and the state equation of the error can be obtained as: inequality according to Equation (9) and the following
equation is obtained:

1984
Authorized licensed use limited to: Universitas Brawijaya. Downloaded on March 28,2023 at 15:37:19 UTC from IEEE Xplore. Restrictions apply.
 Lq III. SIMULATION AND EXPERIMENTAL ANALYSIS OF PMSM
η (0, t1 ) =  vTW dt =  (id − iˆd )(ωˆ − ω )
t1 t1
iq dt (11) VECTOR CONTROL BASED ON NEW MRAS
0 0 Ld
A. Simulation Analysis
The adaptive law is still in the form of proportional add
integral, which can be expressed by the following formula: In order to verify the effectiveness of the proposed MRAS
method, a sensorless vector control simulation model of
PMSM was built. The motor parameters used in the
ˆ = 0t G1( ν ,τ,t )dτ + G2 ( ν , t ) + ω
ω ˆ (0) (12) simulation model are shown in Table 1.
Substituting Equation (12) into Equation (11), we can get: TABLE I
t1 MOTOR PARAMETERS IN THE SIMULATION MODEL
η (0, t1 ) =  vT Wdt
0
The parameter name Numerical value
Lq
=    G1 (v,τ , t )dτ + G2 (v, t ) + ωˆ (0) − ω  id − iˆd ( )
t1 t1
iq dt
0  0  Ld Phase resistance/mΩ 3.85

Let D axis inductance/mH 0.1257

  t1  Lq Q axis inductance/mH 0.2636

t1
η1 (0, t1 ) = 0  0 G1 (v,τ , t )dτ + ωˆ (0) − ω  id − iˆd L iq dt

( )
Permanent magnet flux/V.s/rad 0.0812

d
L


t1
η 2 (0, t1 ) =  G2 (v, t ) id − iˆd q iq dt
0 Ld
( ) Rated speed/rpm 16000

Rated power/KW 230KW

 k f (t ) = t G (ν , t ,τ )dτ + ωˆ (0) − ω
 i

0 1 (ki > 0)
In the simulation of the sensorless vector control
 f ′(t ) = id − iˆd iq ( ) system of PMSM, the improved MRAS (NMRAS) and the
traditional MRAS in this paper are respectively used to
Then:
identify the motor speed and rotor position. The motor speeds
L up according to a certain acceleration before 11s, and the
η1 (0, t1 ) =    G1 (v,τ , t )dτ + ωˆ (0) − ω (id − iˆd ) q iq dt
t 1t 1

  speed reaches the rated speed after 11s.The load torque varies
0 0 Ld
according to Fig. 2. At 6s, the load torque is suddenly
Lq ki 2 k L Lq increased to the rated torque of 140NM, at 12s, the load is
t1
=  (ki f (t )) f ' (t )
0 Ld
dt =
2
(
f (t1 ) − f 2 (0)
Ld
)
≥ − i q f 2 (0)
2 Ld suddenly reduced to 40NM, and at 16.1s, the load is suddenly
increased to 140NM.
At the same time, if we define
 k p g (t ) = G2 (v, t ) (k p > 0)

(
 g (t ) = id − iˆd iq )
Then:
Lq Lq
η 2 (0, t1 ) =  G2 (v, t )(id − iˆd )
t1 t1
iq dt =  k p ( g (t ))
2
dt ≥ 0
0 Ld 0 Ld Fig. 2 Load torque of motor
2
Then η (0, t1 ) = η1 (0, t1 ) + η 2 (0, t1 ) ≥ -r is always true, and 0 Under the condition of load torque variation in Fig. 2, the
the nonlinear time-varying link in Fig. 1 satisfies the Popov dynamic response simulation results of PMSM vector control
integral inequality. system are shown in the following figure:
According to the previous analysis

(
G1 (v,τ , t ) = k i id − iˆd iq ) (k i > 0)
 (13)
(
 G2 (v, t ) = k p id − iˆd iq ) (k p > 0)
Substituting Equation (13) into Equation (12), the
adaptive law of the new MRAS system can be obtained as
follows: Fig. 3 Motor current waveform

ω̂ =  ki (id − iˆd )iq dt + k p (id − iˆd )iq (14)

To sum up, the new MRAS system only uses three

parameters of the motor and does not need the permanent
magnet flux linkage parameters of the motor, so its
dependence on the motor parameters is reduced and the
implementation is more convenient. Fig. 4 Motor speed waveform

1985
Authorized licensed use limited to: Universitas Brawijaya. Downloaded on March 28,2023 at 15:37:19 UTC from IEEE Xplore. Restrictions apply.
 As can be seen from fig. 3 and fig. 4, when the motor
parameters are accurate and consistent with the actual
parameters, the motor can run stably at full frequency with
full load under the two sensorless algorithms, and when the
system suddenly adds and suddenly reduces the load, control
system can fast response, the dynamic response time and
overshoot are equal .It can be seen that the new MRAS
control system proposed in this paper has good dynamic
performance.
As PMSM is in operation, the motor parameters will
change. When the parameters of the motor change, the motor
parameters used in MRAS will not match with the actual
parameters. According to the previous analysis, the new
MRAS control proposed in this paper is completely
insensitive to the permanent magnet flux parameters of the
motor. When the permanent magnet flux of the motor
decreases by 40%, the simulation results of the traditional
MRAS and the new MRAS control system are as follows:
Fig. 5 Motor speed waveform
As can be seen from Fig.5, when the load torque of the
motor is suddenly increased to 140NM at 6s, the senseless
control system of the motor based on the traditional MRAS
cannot run stably, while the new MRAS control system
proposed in this paper can still run stably. When the load
torque changes, the system can respond quickly and the motor
speed can track the set speed. It can be seen that the new
MRAS control method proposed in this paper has better
robustness.
B. Experimental Analysis
The new MRAS proposed in this paper is adopted to carry
out the mutual dragging experiment on the 200kW PMSM,
and the mutual dragging experimental platform is shown in
Fig. 6. The motor is built-in 4-pole PMSM with rated power
of 200KW and rated speed of 12000RPM. TI's 28335 control
chip is used for the main control of the frequency converter.
The carrier frequency is 5KHz and the current loop control
period is 5KHz.
Control
Cabinet
Loading
Motor Motor
Under Test
Transmissi
on Unit
Fig. 6 Mutual dragging experimental platform
In the experiment, the speed and current double closed-
loop vector control mode is adopted, and the speed feedback
and rotor position information of the vector control system
are estimated by the new MRAS proposed in this paper. The
motor current waveform in the process of sudden addition
Authorized licensed use limited to: Universitas Brawijaya. Downloaded on March 28,2023 at 15:37:19 UTC from IEEE Xplore. Restrictions apply.
and sudden reduction of the motor load when the motor is
running at rated speed is shown in Fig.7. It can be seen that
under the control of the new MRAS proposed in this paper,
the system can respond quickly and has good dynamic
performance and robustness in the process of sudden addition
and sudden reduction of the motor load. The current
expansion waveform when the motor runs at full load is
shown in Fig. 8.
Fig. 7 Measured waveform of motor phase current in the process of load
torque transformation
Fig. 8 Phase current expansion waveform when the motor is fully loaded
IV. CONCLUSION
In this paper, PMSM is taken as the research object, and
a new model reference adaptive method for motor speed and
rotor position estimation is proposed. Compared with the
traditional MRAS, the calculation amount of the algorithm is
smaller, and the dependence on the motor parameters is
significantly reduced, and the proposed method is completely
insensitive to the permanent magnet flux of the motor. Based
on the method proposed in this paper, the sensorless vector
control of PMSM is realized. The simulation and experiment
show that the method is effective, and the dynamic
performance of the system is good in the process of load
torque mutation. In addition, in terms of the dependence of
motor parameters, the new MRAS proposed in this paper is
compared with the traditional MRAS method through
simulation, and the simulation results show that the proposed
method has lower dependence on motor parameters and
stronger robustness.
REFERENCES
[1] Li Y D, Zhu H. “Summary of Speed Sensorless Control for Permanent
Magnet Synchronous Motor.” Electric Drive, 2009,39(9): 3-10.
[2] X.Song, J.Fang, B.Han and S.Zheng. “Adaptive Compensation Method
for High-Speed Surface PMSM Sensorless Drives of EMF-Based
Position Estimation Error.” IEEE Transactions on Power Electronics,
2016, 31(2): 1438-1449.
[3] Li B L, Zhang B, Qin S. “Application and Improvement of Full-Order
State Observer in Speed Identification System.” Electric Drive,
2015,45(3) : 7-11.
[4] Chen S Y, Pi Y G. “Sensorless Position Control of Permanent Magnet
Synchronous Motor Based on Sliding Mode Observer and Sliding
Mode Controller.” Transactions of China Electrotechnical Society,
2016,31(12):108-117.
1986
[5] Kim H, Son J, Lee J. “A High-Speed Sliding Mode Observer for the
Sensorless Speed Control of a PMSM.” IEEE Transactions on
Industrial Electronics,2011,58(9):4069-4077．
[6] Zhou Y Z, Long S P. “Synchronous Motor Position Sensorless Direct
Torque Control Based on Rotor High-frequency Pulsating Current
Injection.” Proceedings of the Csee, 2015, 20(1): 223-230.
[7] Lin H C, Wang Z X. “Design of sensorless position observer for high
frequency injected PMSM.” Electric Machines & Control
Applications,2014, 41(04): 1-5.
[8] Zhu Z Q, Gong L M. “Investigation of effectiveness of sensorless
operation in carrier signal injection based sensorless control methods .”
IEEE Trans on Industrial Electronics, 2011, 58(8):3431-3439．
[9] Shen Y X, Jiang J, Ji Z C. “Control Optimization of Sensorless
Permanent Magnet Synchronous Motor Based on Genetic Algorithm .”
Journal of Nanjing University of Aeronautics and Astronautics,
2006,S1: 128-131.
Authorized licensed use limited to: Universitas Brawijaya. Downloaded on March 28,2023 at 15:37:19 UTC from IEEE Xplore. Restrictions apply.
[10] Zheng D K, Zhou Y S, Li H Y, et al. “Design of sensorless permanent
magnet synchronous motor controller based on EKF.” Micromotors
2018,51(1), 29-33.
[11] Lin M, Li Y H, Wu C, et al. “Predictive Control of Permanent Magnet
Synchronous Motor Based on Sliding Mode Model Reference
Adaptive System Observer.” Transactions of China Electrotechnical
Society, 2017,32(6) : 156-163.
[12] Wu C. “Research on Position Sensorless Control Technology of
Permanent Magnet Synchronous Motor Speed Regulating System.” Xi
'an: School of Automation, Northwestern Polytechnical University,
2015.
[13] Wei H P, Wei H F, Zhang Y. “Sensorless Vector Control of Permanent
Magnet Synchronous Motor Based on Model Reference Adaptive.”
Journal of Jiangsu University of Science and Technology,
2018,32(2):224-230.
1987