Sensoless Control Method for Surface-Mounted Permanent Magnet Servo Motors Over Low-Speed Range in Robotics

This paper proposes a novel sensorless control strategy for surface-mounted permanent magnet servo motors (PMSMs) in robotic applications. In response to the limitations of saliency-tracking-based methods for low-speed range applications in surface-mounted PMSMs, this paper introduces an innovative sensorless control strategy. Departing from conventional methodologies, the proposed strategy initiates speed estimation through a sliding mode observer and subsequently employs integral operations to calculate the rotor position. This inversion of the traditional sequence of operations aims to address the challenges associated with saliency-tracking-based methods, particularly in scenarios where the entire saliency of the motor is not readily discernible. Simulation results are provided to validate the proposed method. The proposed sensorless control strategy offers a cost-effective solution for estimating rotor positions in surface-mounted PMSMs, addressing the demand for effective movements in modern robotic applications.