Rotor Position estimation method for permanent magnet synchronous motor based on Super-Twisting Sliding Mode Observer

In order to solve the restrictions, imposed by the position sensor, on the application of the permanent magnet synchronous motor (PMSM) in the robot field, a rotor position estimation method based on super-twisting sliding mode observer (STSMO) is proposed. The observer is built according to the back electromotive force (EMF) model after the back EMF equivalent signal is obtained. In this way, not only are low-pass filter and phase compensation module eliminated, but also estimation accuracy is improved. Then, the Lyapunov stability analysis is carried out to verify the stability of SPMSM control system. Finally, Numerical simulations is carried out on Matlab/Simulink, the results demonstrate that the STSMO can effectively estimate rotor position and velocity, and the system has good dynamic and static performance.