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In this work, we present a mixed sensorless strategy for Permanent MagnetsSynchronous Machines, combining a torque/current controller and an observer forposition, speed, flux and stator resistance. The proposed co-design ismotivated by the need of an appropriate signal injection technique, in order toguarantee full state observability. Neither the typical constant orslowly-varying speed assumptions, nor a priori mechanical model information areused in the observer design. Instead, the rotor speed is modeled as an unknowninput disturbance with constant (unknown) sign and uniformly non-zeromagnitude. With the proposed architecture, it is shown that the torque trackingand signal injection tasks can be achieved and asymptotically decoupled.Because of these features, we refer to this strategy as a sensorlesscontroller-observer with no mechanical model. Employing a gradient descentresistance/back-EMF estimation, combined with the unit circle formalism todescribe the rotor position, we rigorously prove regional practical asymptoticstability of the overall structure, with a domain of attraction that can bemade arbitrarily large, not including a lower dimensional manifold. Theeffectiveness of this design is further validated with numerical simulations,related to a challenging application of UAV propellers control.

A Robust Sensorless Controller-Observer Strategy for PMSMs with Unknown Resistance and Mechanical Model