Parameter sensitivity of a MRAS-based sensorless control for AFPMSM considering speed accuracy and dynamic response at multiple parameter variations

In this paper, a novel approach is presented to tune the sensorless control based on a model reference adaptive system method (MRAS-based) in order to balance the variation of several system parameters. The method was used for speed and position estimation of a field-oriented controlled (FOC) wheel hub drive with an axial flux permanent magnet synchronous motor (AFPMSM). Parameter deviations of the control system are assumed to occur as disturbances. Their influences are reduced using an enhanced fundamental wave model of the AFPMSM. A model-based system engineering (MBSE) approach was chosen to compare simulation with experimental results. Following the simulation study, the MRAS-based method was implemented on a target system directly from the simulation models using code generation software. A performance evaluation of the tuning algorithm is focused on the accuracy of the calculated rotor position. The results demonstrate a resource-efficient MRAS implementation on a microcontroller ($\mu C$) suitable for operation with multiple parameter variations.