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<p>This paper presents a comprehensive sensorless control strategy for a 12-slot/19-pole YASA-AFFSPM (Yokeless and Segmented Armature Axial Field Flux switching Permanent Magnet) motor that simultaneously addresses acoustic noise reduction and dynamic performance enhancement. The proposed methodology integrates three key technological innovations: pseudo-random high-frequency sinusoidal signal injection, Active Disturbance Rejection Control (ADRC) for current regulation, and an Improved Phase-Locked Loop (IPLL) for position estimation. The pseudo-random injection technique effectively spreads the spectral energy of the injected signal, significantly reducing audible acoustic noise compared to conventional fixed-frequency methods. The ADRC framework, implemented in the q-axis current loop, utilizes an Extended State Observer to actively estimate and compensate for both internal parameter uncertainties and external load disturbances, achieving superior dynamic response and robustness. The IPLL structure incorporates amplitude normalization and a higher-order loop design, ensuring accurate rotor position tracking while eliminating errors caused by signal amplitude variations. Experimental results demonstrate that the integrated approach maintains position estimation accuracy within ± 3° electrical angle across various operating conditions, including speed reversals and load transients. Power spectral density analysis confirms effective suppression of prominent tonal noise components, while dynamic performance tests show enhanced disturbance rejection capabilities and improved transient response compared to conventional PI-based control schemes. This work establishes a foundation for high-performance, low-noise sensorless drives in demanding applications such as electric vehicles and precision industrial systems.</p>

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Low noise sensorless control of a YASA AFFSPM motor using ADRC and improved PLL

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2026年2月11日

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  • Javad Rahmani-Fard,
  • Mohammed Jamal Mohammed

摘要

This paper presents a comprehensive sensorless control strategy for a 12-slot/19-pole YASA-AFFSPM (Yokeless and Segmented Armature Axial Field Flux switching Permanent Magnet) motor that simultaneously addresses acoustic noise reduction and dynamic performance enhancement. The proposed methodology integrates three key technological innovations: pseudo-random high-frequency sinusoidal signal injection, Active Disturbance Rejection Control (ADRC) for current regulation, and an Improved Phase-Locked Loop (IPLL) for position estimation. The pseudo-random injection technique effectively spreads the spectral energy of the injected signal, significantly reducing audible acoustic noise compared to conventional fixed-frequency methods. The ADRC framework, implemented in the q-axis current loop, utilizes an Extended State Observer to actively estimate and compensate for both internal parameter uncertainties and external load disturbances, achieving superior dynamic response and robustness. The IPLL structure incorporates amplitude normalization and a higher-order loop design, ensuring accurate rotor position tracking while eliminating errors caused by signal amplitude variations. Experimental results demonstrate that the integrated approach maintains position estimation accuracy within ± 3° electrical angle across various operating conditions, including speed reversals and load transients. Power spectral density analysis confirms effective suppression of prominent tonal noise components, while dynamic performance tests show enhanced disturbance rejection capabilities and improved transient response compared to conventional PI-based control schemes. This work establishes a foundation for high-performance, low-noise sensorless drives in demanding applications such as electric vehicles and precision industrial systems.